Reset all robots
(self)
| 81 | return |
| 82 | |
| 83 | def reset_all(self): |
| 84 | """ Reset all robots""" |
| 85 | self.reset_envs_idx(torch.arange(self.num_envs, device=self.device)) |
| 86 | self.simulator.set_actor_root_state_tensor(torch.arange(self.num_envs, device=self.device), self.simulator.all_root_states) |
| 87 | self.simulator.set_dof_state_tensor(torch.arange(self.num_envs, device=self.device), self.simulator.dof_state) |
| 88 | # self._refresh_env_idx_tensors(torch.arange(self.num_envs, device=self.device)) |
| 89 | actions = torch.zeros(self.num_envs, self.dim_actions, device=self.device, requires_grad=False) |
| 90 | actor_state = {} |
| 91 | actor_state["actions"] = actions |
| 92 | obs_dict, _, _, _ = self.step(actor_state) |
| 93 | return obs_dict |
| 94 | |
| 95 | # def _refresh_env_idx_tensors(self, env_ids): |
| 96 | # env_ids_int32 = env_ids.to(dtype=torch.int32) |
no test coverage detected