def reset()

in polymetis/python/polysim/envs/bullet_manipulator.py [0:0]

• 12 lines of code
• 5 McCabe index (conditional complexity)

    def reset(self, joint_pos: List[float] = None, joint_vel: List[float] = None):
        """Resets simulation to the given pose, or if not given, the default rest pose"""
        if joint_pos is None:
            joint_pos = self.rest_pose
        if joint_vel is None:
            joint_vel = [0 for _ in joint_pos]

        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],
            )