Closed andrearosasco closed 6 months ago
When working with hardware, for safety observation = self.reset()
should be called before calling any step function. Your intuition here is correct and I don't envision any issues.
Thanks for the answer! I have a follow up question: if there are no issues, why isn't observation, _reward, done, _info = self.step(np.zeros(self.sim.model.nu))
removed in favor of observation = self.reset()
?
In our usecase (with hardware)
I found this line in env_base.MujocoEnv._setup
Since on the real robot the requested position causes an overcurrent, I commented the line and de-commented
observation = self.reset()
I wonder, since it wasn't de-commented already, can it cause any issue?