def reset(self, keyframe_id=None):
"""Resets internal variables of the simulation, possibly to a keyframe.
Args:
keyframe_id: Optional integer specifying the index of a keyframe defined
in the model XML to which the simulation state should be initialized.
Must be between 0 and `self.model.nkey - 1` (inclusive).
Raises:
ValueError: If `keyframe_id` is out of range.
"""
if keyframe_id is None:
mjlib.mj_resetData(self.model.ptr, self.data.ptr)
else:
if not 0 <= keyframe_id < self.model.nkey:
raise ValueError(_KEYFRAME_ID_OUT_OF_RANGE.format(
max_valid=self.model.nkey-1, actual=keyframe_id))
mjlib.mj_resetDataKeyframe(self.model.ptr, self.data.ptr, keyframe_id)
# Disable actuation since we don't yet have meaningful control inputs.
with self.model.disable('actuation'):
self.forward()
def reset(self):
"""Resets internal variables of the physics simulation."""
mjlib.mj_resetData(self.model.ptr, self.data.ptr)
# Disable actuation since we don't yet have meaningful control inputs.
with self.model.disable('actuation'):
self.forward()
