(self)
Sets up the environment for latest MJCF model from the task.
Sets up the environment for latest MJCF model from the task.
Sets up the environment for latest MJCF model from the task .
def _recompile_physics_and_update_observables(self):
    """Sets up the environment for latest MJCF model from the task."""
    self._physics_proxy = None
    self._recompile_physics()
    if isinstance(self._physics, weakref.ProxyType):
      self._physics_proxy = self._physics
    else:
      self._physics_proxy = weakref.proxy(self._physics)

    if self._overridden_n_sub_steps is not None:
      self._n_sub_steps = self._overridden_n_sub_steps
    else:
      self._n_sub_steps = self._task.physics_steps_per_control_step

    self._hooks.refresh_entity_hooks()
    self._hooks.after_compile(self._physics_proxy, self._random_state)
    self._observation_updater = self._make_observation_updater()
    self._observation_updater.reset(self._physics_proxy, self._random_state)
def _recompile_physics_and_update_observables ( self ) : self . _physics_proxy = None self . _recompile_physics ( ) if isinstance ( self . _physics , weakref . ProxyType ) : self . _physics_proxy = self . _physics else : self . _physics_proxy = weakref . proxy ( self . _physics ) if self . _overridden_n_sub_steps is not None : self . _n_sub_steps = self . _overridden_n_sub_steps else : self . _n_sub_steps = self . _task . physics_steps_per_control_step self . _hooks . refresh_entity_hooks ( ) self . _hooks . after_compile ( self . _physics_proxy , self . _random_state ) self . _observation_updater = self . _make_observation_updater ( ) self . _observation_updater . reset ( self . _physics_proxy , self . _random_state )