def initialize_robots()

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

• 15 lines of code
• 3 McCabe index (conditional complexity)

    def initialize_robots(self, physics):
        # reset joint position
        physics.named.data.qpos[:16] = START_ARM_POSE

        # reset mocap to align with end effector
        # to obtain these numbers:
        # (1) make an ee_sim env and reset to the same start_pose
        # (2) get env._physics.named.data.xpos['vx300s_left/gripper_link']
        #     get env._physics.named.data.xquat['vx300s_left/gripper_link']
        #     repeat the same for right side
        np.copyto(physics.data.mocap_pos[0], [-0.31718881, 0.5, 0.29525084])
        np.copyto(physics.data.mocap_quat[0], [1, 0, 0, 0])
        # right
        np.copyto(physics.data.mocap_pos[1], np.array([0.31718881, 0.49999888, 0.29525084]))
        np.copyto(physics.data.mocap_quat[1], [1, 0, 0, 0])

        # reset gripper control
        close_gripper_control = np.array(
            [
                PUPPET_GRIPPER_POSITION_CLOSE,
                -PUPPET_GRIPPER_POSITION_CLOSE,
                PUPPET_GRIPPER_POSITION_CLOSE,
                -PUPPET_GRIPPER_POSITION_CLOSE,
            ]
        )
        np.copyto(physics.data.ctrl, close_gripper_control)