| 315 | |
| 316 | |
| 317 | def _reset(self): |
| 318 | self.data.qpos[:3] = np.array(self.cfg.robot.init_state.pos) |
| 319 | self.data.qpos[3:7] = np.array(self.cfg.robot.init_state.rot)[[3,0,1,2]] # XYZW to WXYZ |
| 320 | # self.data.qpos[3:7] = np.array([0,0,0.7184,-0.6956])[[3,0,1,2]] #DEBUG: init quat of JingjiTaiji |
| 321 | # self.data.qpos[3:7] = np.array([0,0,0.7455,-0.6665])[[3,0,1,2]] #DEBUG: init quat of NewTaiji |
| 322 | # self.data.qpos[3:7] = np.array([0,0,0.6894,0.7244])[[3,0,1,2]] #DEBUG: init quat of Shaolinquan |
| 323 | self.data.qpos[7:] = self.dof_init_pose |
| 324 | self.data.qvel[:] = 0 |
| 325 | self.cmd = np.array(self.cfg.deploy.defcmd) |
| 326 | |
| 327 | if self.RAND_IMU: |
| 328 | self.noise_imu.reset() |
| 329 | |
| 330 | |
| 331 | @staticmethod |