(self)
| 375 | raise |
| 376 | |
| 377 | def _reset_attempt(self): |
| 378 | if self._recompile_mjcf_every_episode or self._mjcf_never_compiled: |
| 379 | if self._fixed_initial_state: |
| 380 | self._random_state.set_state(self._fixed_random_state) |
| 381 | self._hooks.initialize_episode_mjcf(self._random_state) |
| 382 | self._recompile_physics_and_update_observables() |
| 383 | self._mjcf_never_compiled = False |
| 384 | |
| 385 | if self._fixed_initial_state: |
| 386 | self._random_state.set_state(self._fixed_random_state) |
| 387 | with self._physics.reset_context(): |
| 388 | self._hooks.initialize_episode(self._physics_proxy, self._random_state) |
| 389 | self._observation_updater.reset(self._physics_proxy, self._random_state) |
| 390 | self._reset_next_step = False |
| 391 | return dm_env.TimeStep( |
| 392 | step_type=dm_env.StepType.FIRST, |
| 393 | reward=None, |
| 394 | discount=None, |
| 395 | observation=self._observation_updater.get_observation()) |
| 396 | |
| 397 | # TODO(b/129061424): Remove this method. |
| 398 | def step_spec(self): |
no test coverage detected