def _reset_sim()

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

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

    def _reset_sim(self):
        """Resets a simulation and indicates whether or not it was successful.

        If a reset was unsuccessful (e.g. if a randomized state caused an error in the
        simulation), this method should indicate such a failure by returning False.
        In such a case, this method will be called again to attempt a the reset again.
        """
        self.data.time = self.initial_time
        self.data.qpos[:] = np.copy(self.initial_qpos)
        self.data.qvel[:] = np.copy(self.initial_qvel)
        self._sample_goal()
        self._mujoco.mj_step(self.model, self.data, nstep=10)
        return True