def initialize_episode()

in gym_aloha/tasks/sim_end_effector.py [0:0]

• 6 lines of code
• 1 McCabe index (conditional complexity)

    def initialize_episode(self, physics):
        """Sets the state of the environment at the start of each episode."""
        self.initialize_robots(physics)
        # randomize box position
        cube_pose = sample_box_pose()
        box_start_idx = physics.model.name2id("red_box_joint", "joint")
        np.copyto(physics.data.qpos[box_start_idx : box_start_idx + 7], cube_pose)
        # print(f"randomized cube position to {cube_position}")

        super().initialize_episode(physics)