Method reset

dm_control/mujoco/engine.py:306–327

Resets internal variables of the simulation, possibly to a keyframe. Args: keyframe_id: Optional integer specifying the index of a keyframe defined in the model XML to which the simulation state should be initialized. Must be between 0 and `self.model.nkey - 1` (inclusive)

(self, keyframe_id=None)

    return new_obj

  def reset(self, keyframe_id=None):
    """Resets internal variables of the simulation, possibly to a keyframe.

    Args:
      keyframe_id: Optional integer specifying the index of a keyframe defined
        in the model XML to which the simulation state should be initialized.
        Must be between 0 and `self.model.nkey - 1` (inclusive).

    Raises:
      ValueError: If `keyframe_id` is out of range.
    """
    if keyframe_id is None:
      mujoco.mj_resetData(self.model.ptr, self.data.ptr)
    else:
      if not 0 <= keyframe_id < self.model.nkey:
        raise ValueError(_KEYFRAME_ID_OUT_OF_RANGE.format(
            max_valid=self.model.nkey-1, actual=keyframe_id))
      mujoco.mj_resetDataKeyframe(self.model.ptr, self.data.ptr, keyframe_id)

    # Disable actuation since we don't yet have meaningful control inputs.
    with self.model.disable('actuation'):
      self.forward()

  def after_reset(self):
    """Runs after resetting internal variables of the physics simulation."""