Method reset

dm_control/rl/control.py:82–97

Starts a new episode and returns the first `TimeStep`.

(self)

    self._reset_next_step = True

  def reset(self):
    """Starts a new episode and returns the first `TimeStep`."""
    self._reset_next_step = False
    self._step_count = 0
    with self._physics.reset_context():
      self._task.initialize_episode(self._physics)

    observation = self._task.get_observation(self._physics)
    if self._flat_observation:
      observation = flatten_observation(observation)

    return dm_env.TimeStep(
        step_type=dm_env.StepType.FIRST,
        reward=None,
        discount=None,
        observation=observation)

  def step(self, action):
    """Updates the environment using the action and returns a `TimeStep`."""