def reset_to_state()

in mujoco_worldgen/env.py [0:0]

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

    def reset_to_state(self, state, call_forward=True):
        """
        Reset to given state.

        Args:
        - state (MjSimState): desired state.
        """
        if not isinstance(state, MjSimState):
            raise TypeError(
                "You must reset to an explicit state (MjSimState).")

        if self.sim is None:
            if self._current_seed is None:
                self._update_seed()

            self.sim = self.get_sim(self._current_seed)
        else:
            # Ensure environment state not captured in MuJoCo's qpos/qvel
            # is reset to the state defined by the model.
            self.sim.reset()

        self.set_state(state, call_forward=call_forward)

        self.t = 0
        return self._reset_sim_and_spaces()