def set_state()

in mujoco_worldgen/env.py [0:0]

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

    def set_state(self, state, call_forward=True):
        """
        Sets the state of the enviroment to the given value. It does not
        set time.

        Warning: This only sets the MuJoCo state by setting qpos/qvel
            (and the user-defined state "udd_state"). It doesn't set
            the state of objects which don't have joints.

        Args:
        - state (MjSimState): desired state.
        - call_forward (bool): if True, forward simulation after setting
            state.
        """
        if not isinstance(state, MjSimState):
            raise TypeError("state must be an MjSimState")
        if self.sim is None:
            raise EmptyEnvException(
                "You must call reset() or reset_to_state() before setting the "
                "state the first time")

        # Call forward to write out values in the MuJoCo data.
        # Note: if udd_callback is set on the MjSim instance, then the
        # user will need to call forward() manually before calling step.
        self.sim.set_state(state)
        if call_forward:
            self.sim.forward()