def reset_robot()

in gym_hil/mujoco_gym_env.py [0:0]

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

    def reset_robot(self):
        """Reset the robot to home position."""
        self._data.qpos[self._panda_dof_ids] = self._home_position
        self._data.ctrl[self._panda_ctrl_ids] = 0.0
        mujoco.mj_forward(self._model, self._data)

        # Reset mocap body to home position
        tcp_pos = self._data.sensor("2f85/pinch_pos").data
        self._data.mocap_pos[0] = tcp_pos