def _build_scene()

in gym_genesis/tasks/cube_pick.py [0:0]

• 32 lines of code
• 3 McCabe index (conditional complexity)

    def _build_scene(self, num_envs, env_spacing):
        if not gs._initialized:
          gs.init(backend=gs.gpu, precision="32")
        self.scene = gs.Scene(
            viewer_options=gs.options.ViewerOptions(
                camera_pos=(3, -1, 1.5),
                camera_lookat=(0.0, 0.0, 0.5),
                camera_fov=30,
                res=(self.observation_width, self.observation_height),
                max_FPS=60,
            ),
            sim_options=gs.options.SimOptions(dt=0.01),
            rigid_options=gs.options.RigidOptions(box_box_detection=True),
            show_viewer=False,
        )

        self.plane = self.scene.add_entity(gs.morphs.Plane())
        self.franka = self.scene.add_entity(gs.morphs.MJCF(file="xml/franka_emika_panda/panda.xml"))
        self.cube = self.scene.add_entity(
            gs.morphs.Box(size=(0.04, 0.04, 0.04), pos=(0.65, 0.0, 0.02))
        )

        if self.enable_pixels:
            self.cam = self.scene.add_camera(
                res=(self.observation_width, self.observation_height),
                pos=(3.5, 0.0, 2.5),
                lookat=(0, 0, 0.5),
                fov=30,
                GUI=False
            )

        self.scene.build(n_envs=num_envs, env_spacing=env_spacing)
        self.motors_dof = np.arange(7)
        self.fingers_dof = np.arange(7, 9)
        self.eef = self.franka.get_link("hand")