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MujocoEnv refactor remove single line function _reset_simulation() #960

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merged 1 commit into from
Mar 12, 2024
Merged

MujocoEnv refactor remove single line function _reset_simulation() #960

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11 changes: 1 addition & 10 deletions gymnasium/envs/mujoco/mujoco_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,12 +120,6 @@ def _initialize_simulation(self) -> Tuple[Any, Any]:
"""
raise NotImplementedError

def _reset_simulation(self) -> None:
"""
Reset MuJoCo simulation data structures, mjModel and mjData.
"""
raise NotImplementedError

def _step_mujoco_simulation(self, ctrl, n_frames) -> None:
"""
Step over the MuJoCo simulation.
Expand All @@ -151,7 +145,7 @@ def reset(
):
super().reset(seed=seed)

self._reset_simulation()
mujoco.mj_resetData(self.model, self.data)

ob = self.reset_model()
info = self._get_reset_info()
Expand Down Expand Up @@ -244,9 +238,6 @@ def _initialize_simulation(
data = mujoco.MjData(model)
return model, data

def _reset_simulation(self):
mujoco.mj_resetData(self.model, self.data)

def set_state(self, qpos, qvel):
super().set_state(qpos, qvel)
self.data.qpos[:] = np.copy(qpos)
Expand Down
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