(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0)
Reset the minitaur to its initial states.

    Args:
      reload_urdf: Whether to reload the urdf file. If not, Reset() just place
        the minitaur back to its starting position.
      default_motor_angles: The default motor angles. If it is None, minitaur
        will hold a default pose (motor angle math.pi / 2) for 100 steps. In
        torque control mode, the phase of holding the default pose is skipped.
      reset_time: The duration (in seconds) to hold the default motor angles. If
        reset_time <= 0 or in torque control mode, the phase of holding the
        default pose is skipped.
Reset the minitaur to its initial states.
Reset the minitaur to its initial states .
def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0):
    """Reset the minitaur to its initial states.

    Args:
      reload_urdf: Whether to reload the urdf file. If not, Reset() just place
        the minitaur back to its starting position.
      default_motor_angles: The default motor angles. If it is None, minitaur
        will hold a default pose (motor angle math.pi / 2) for 100 steps. In
        torque control mode, the phase of holding the default pose is skipped.
      reset_time: The duration (in seconds) to hold the default motor angles. If
        reset_time <= 0 or in torque control mode, the phase of holding the
        default pose is skipped.
    """
    if reload_urdf:
      self._LoadRobotURDF()
      if self._on_rack:
        self.rack_constraint = (self._CreateRackConstraint(
            self._GetDefaultInitPosition(), self._GetDefaultInitOrientation()))
      self._BuildJointNameToIdDict()
      self._BuildUrdfIds()
      self._RemoveDefaultJointDamping()
      self._BuildMotorIdList()
      self._RecordMassInfoFromURDF()
      self._RecordInertiaInfoFromURDF()
      self.ResetPose(add_constraint=True)
    else:
      self._pybullet_client.resetBasePositionAndOrientation(
          self.quadruped, self._GetDefaultInitPosition(),
          self._GetDefaultInitOrientation())
      self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0],
                                              [0, 0, 0])
      self.ResetPose(add_constraint=False)

    self._overheat_counter = np.zeros(self.num_motors)
    self._motor_enabled_list = [True] * self.num_motors
    self._observation_history.clear()
    self._step_counter = 0
    self._state_action_counter = 0
    self._is_safe = True
    self._last_action = None
    self._SettleDownForReset(default_motor_angles, reset_time)
    if self._enable_action_filter:
      self._ResetActionFilter()
def Reset ( self , reload_urdf = True , default_motor_angles = None , reset_time = 3.0 ) : if reload_urdf : self . _LoadRobotURDF ( ) if self . _on_rack : self . rack_constraint = ( self . _CreateRackConstraint ( self . _GetDefaultInitPosition ( ) , self . _GetDefaultInitOrientation ( ) ) ) self . _BuildJointNameToIdDict ( ) self . _BuildUrdfIds ( ) self . _RemoveDefaultJointDamping ( ) self . _BuildMotorIdList ( ) self . _RecordMassInfoFromURDF ( ) self . _RecordInertiaInfoFromURDF ( ) self . ResetPose ( add_constraint = True ) else : self . _pybullet_client . resetBasePositionAndOrientation ( self . quadruped , self . _GetDefaultInitPosition ( ) , self . _GetDefaultInitOrientation ( ) ) self . _pybullet_client . resetBaseVelocity ( self . quadruped , [ 0 , 0 , 0 ] , [ 0 , 0 , 0 ] ) self . ResetPose ( add_constraint = False ) self . _overheat_counter = np . zeros ( self . num_motors ) self . _motor_enabled_list = [ True ] * self . num_motors self . _observation_history . clear ( ) self . _step_counter = 0 self . _state_action_counter = 0 self . _is_safe = True self . _last_action = None self . _SettleDownForReset ( default_motor_angles , reset_time ) if self . _enable_action_filter : self . _ResetActionFilter ( )