def _env_setup()

in gym_xarm/tasks/base.py [0:0]

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

    def _env_setup(self, initial_qpos):
        """Initial configuration of the environment.

        Can be used to configure initial state and extract information from the simulation.
        """
        for name, value in initial_qpos.items():
            self.data.set_joint_qpos(name, value)
        mocap.reset(self.model, self.data)
        mujoco.mj_forward(self.model, self.data)
        self._sample_goal()
        mujoco.mj_forward(self.model, self.data)