def reset()

in gym_hil/envs/panda_pick_gym_env.py [0:0]

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

    def reset(self, seed=None, **kwargs) -> Tuple[Dict[str, np.ndarray], Dict[str, Any]]:
        """Reset the environment."""
        # Ensure gymnasium internal RNG is initialized when a seed is provided
        super().reset(seed=seed)

        mujoco.mj_resetData(self._model, self._data)

        # Reset the robot to home position
        self.reset_robot()

        # Sample a new block position
        if self._random_block_position:
            block_xy = np.random.uniform(*_SAMPLING_BOUNDS)
            self._data.jnt("block").qpos[:3] = (*block_xy, self._block_z)
        else:
            block_xy = np.asarray([0.5, 0.0])
            self._data.jnt("block").qpos[:3] = (*block_xy, self._block_z)
        mujoco.mj_forward(self._model, self._data)

        # Cache the initial block height
        self._z_init = self._data.sensor("block_pos").data[2]
        self._z_success = self._z_init + 0.1

        obs = self._compute_observation()
        return obs, {}