Updating positions of sites during environment reset

[mohakbhardwaj]

Hi, I have an environment where the robot needs to reach different goal positions that are randomized at every timestep. I am representing the goal as a site on the worldbody in the xml file for visualization purposes. However, while I update the site_xpos using with physics.reset_context(): physics.named.data.site_xpos["goal"] = np.random.uniform(low,high) the location of the site does not get updated in the dm_viewer. Is there a way to update site position in the viewer or am I using the functionality incorrectly? Thanks!

[yuvaltassa]

You want to change model.site_pos rather than data.site_xpos. xpos quantities get overwritten by kinematics.

Makes sense?

[kevinzakka]

As an aside, if you have the site as an mjcf.Element, you can bind the mjcf.Physics object to it and query/change physical quantities much more easily. You can read about it here.

[mohakbhardwaj]

As an aside, if you have the site as an mjcf.Element, you can bind the mjcf.Physics object to it and query/change physical quantities much more easily. You can read about it here.

Yes, this worked for me. Thanks!