def reset()

in gym_aloha/env.py [0:0]

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

    def reset(self, seed=None, options=None):
        super().reset(seed=seed)

        # TODO(rcadene): how to seed the env?
        if seed is not None:
            self._env.task.random.seed(seed)
            self._env.task._random = np.random.RandomState(seed)

        # TODO(rcadene): do not use global variable for this
        if self.task == "transfer_cube":
            BOX_POSE[0] = sample_box_pose(seed)  # used in sim reset
        elif self.task == "insertion":
            BOX_POSE[0] = np.concatenate(sample_insertion_pose(seed))  # used in sim reset
        else:
            raise ValueError(self.task)

        raw_obs = self._env.reset()

        observation = self._format_raw_obs(raw_obs.observation)

        info = {"is_success": False}
        return observation, info