def reset()

in robogym/wrappers/dactyl.py [0:0]

• 20 lines of code
• 8 McCabe index (conditional complexity)

    def reset(self, *args, **kwargs):
        # Spreads fingers apart
        finger_i = self.FINGERS.index(self.active_finger)
        for i in range(len(self.FINGERS)):
            if "F" in self.FINGERS[i] and i != finger_i:
                if i < finger_i:
                    limit = 0
                elif i > finger_i:
                    limit = 1
                self._freeze_joint("{}J4".format(self.FINGERS[i]), 1)
                self._freeze_joint("{}J3".format(self.FINGERS[i]), limit)
                self._freeze_joint("{}J2".format(self.FINGERS[i]), 1)
                self._freeze_joint("{}J1".format(self.FINGERS[i]), 1)
                self._freeze_joint("{}J0".format(self.FINGERS[i]), 1)
            if "TH" in self.FINGERS[i] and i != finger_i:
                self._freeze_joint("{}J4".format(self.FINGERS[i]), 0)
                self._freeze_joint("{}J3".format(self.FINGERS[i]), 1)
                self._freeze_joint("{}J2".format(self.FINGERS[i]), 1)
                self._freeze_joint("{}J1".format(self.FINGERS[i]), 0)
                self._freeze_joint("{}J0".format(self.FINGERS[i]), 0)

        return self.env.reset(*args, **kwargs)