def _reset_internal(self):
"""
Resets simulation internal configurations.
"""
# Run superclass reset functionality
super()._reset_internal()
# Reset controllers
reset_controllers()
# Reset action dim
self._action_dim = 0
# Reset robot and update action space dimension along the way
for robot in self.robots:
robot.reset(deterministic=self.deterministic_reset)
self._action_dim += robot.action_dim
# Update cameras if appropriate
if self.use_camera_obs:
temp_names = []
for cam_name in self.camera_names:
if "all-" in cam_name:
# We need to add all robot-specific camera names that include the key after the tag "all-"
start_idx = len(temp_names) - 1
key = cam_name.replace("all-", "")
for robot in self.robots:
for robot_cam_name in robot.robot_model.cameras:
if key in robot_cam_name:
temp_names.append(robot_cam_name)
# We also need to broadcast the corresponding values from each camera dimensions as well
end_idx = len(temp_names) - 1
self.camera_widths = (self.camera_widths[:start_idx] +
[self.camera_widths[start_idx]] *
(end_idx - start_idx) +
self.camera_widths[(start_idx + 1):])
self.camera_heights = (
self.camera_heights[:start_idx] +
[self.camera_heights[start_idx]] *
(end_idx - start_idx) +
self.camera_heights[(start_idx + 1):])
self.camera_depths = (self.camera_depths[:start_idx] +
[self.camera_depths[start_idx]] *
(end_idx - start_idx) +
self.camera_depths[(start_idx + 1):])
else:
# We simply add this camera to the temp_names
temp_names.append(cam_name)
# Lastly, replace camera names with the updated ones
self.camera_names = temp_names
def _reset_internal(self):
"""
Resets simulation internal configurations.
"""
# Run superclass reset functionality
super()._reset_internal()
# Reset controllers
reset_controllers()
# Reset action dim
self._action_dim = 0
# Reset robot and update action space dimension along the way
for robot in self.robots:
robot.reset(deterministic=self.deterministic_reset)
self._action_dim += robot.action_dim