(self, default_motor_angles, reset_time)
Sets the default motor angles and waits for the robot to settle down.

    The reset is skipped is reset_time is less than zereo.

    Args:
      default_motor_angles: A list of motor angles that the robot will achieve
        at the end of the reset phase.
      reset_time: The time duration for the reset phase.
Sets the default motor angles and waits for the robot to settle down.
Sets the default motor angles and waits for the robot to settle down .
def _SettleDownForReset(self, default_motor_angles, reset_time):
    """Sets the default motor angles and waits for the robot to settle down.

    The reset is skipped is reset_time is less than zereo.

    Args:
      default_motor_angles: A list of motor angles that the robot will achieve
        at the end of the reset phase.
      reset_time: The time duration for the reset phase.
    """
    if reset_time <= 0:
      return
    # Important to fill the observation buffer.
    self.ReceiveObservation()
    for _ in range(100):
      self._StepInternal(
          [math.pi / 2] * self.num_motors,
          motor_control_mode=robot_config.MotorControlMode.POSITION)
      # Don't continue to reset if a safety error has occurred.
      if not self._is_safe:
        return

    if default_motor_angles is None:
      return

    num_steps_to_reset = int(reset_time / self.time_step)
    for _ in range(num_steps_to_reset):
      self._StepInternal(
          default_motor_angles,
          motor_control_mode=robot_config.MotorControlMode.POSITION)
      # Don't continue to reset if a safety error has occurred.
      if not self._is_safe:
        return
def _SettleDownForReset ( self , default_motor_angles , reset_time ) : if reset_time <= 0 : return # Important to fill the observation buffer. self . ReceiveObservation ( ) for _ in range ( 100 ) : self . _StepInternal ( [ math . pi / 2 ] * self . num_motors , motor_control_mode = robot_config . MotorControlMode . POSITION ) # Don't continue to reset if a safety error has occurred. if not self . _is_safe : return if default_motor_angles is None : return num_steps_to_reset = int ( reset_time / self . time_step ) for _ in range ( num_steps_to_reset ) : self . _StepInternal ( default_motor_angles , motor_control_mode = robot_config . MotorControlMode . POSITION ) # Don't continue to reset if a safety error has occurred. if not self . _is_safe : return