def reset()

in ml3/envs/bullet_sim.py [0:0]

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

    def reset(self, joint_pos=None, joint_vel=None):
        if joint_vel is None:
            joint_vel = list(np.zeros(self.n_dofs))

        if joint_pos is None:
            joint_pos = list(np.zeros(self.n_dofs))

        for i in range(self.n_dofs):
            self.sim.resetJointState(bodyUniqueId=self.robot_id,
                                     jointIndex=self.controlled_joints[i],
                                     targetValue=joint_pos[i],
                                     targetVelocity=joint_vel[i])

        self.sim.stepSimulation()
        self.cur_joint_pos = self.get_current_joint_pos()
        self.cur_joint_vel = self.get_current_joint_vel()
        self.curr_ee = self.get_current_ee_state()
        return np.hstack([self.get_current_joint_pos(),self.get_current_joint_vel()])