Method _start

dm_control/viewer/runtime.py:212–233

Starts a new simulation episode. Starting a new episode may be associated with changing the physics instance. The method tracks that and notifies observers through 'on_physics_changed' subject. Returns: True if the operation was successful, False otherwise.

(self)

      listener()

  def _start(self):
    """Starts a new simulation episode.

    Starting a new episode may be associated with changing the physics instance.
    The method tracks that and notifies observers through 'on_physics_changed'
    subject.

    Returns:
      True if the operation was successful, False otherwise.
    """
    # NB: we check the identity of the data pointer rather than the physics
    # instance itself, since this allows us to detect when the physics has been
    # "reloaded" using one of the `reload_from_*` methods.
    old_data_ptr = self._env.physics.data.ptr

    with self._error_logger:
      self._time_step = self._env.reset()

    if self._env.physics.data.ptr is not old_data_ptr:
      for listener in self.on_physics_changed:
        listener()
    return not self._error_logger.errors_found

  def _step_paused(self):
    mujoco.mj_forward(self._env.physics.model.ptr, self._env.physics.data.ptr)