def _setup()

in gym_pusht/envs/pusht.py [0:0]

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

    def _setup(self):
        self.space = pymunk.Space()
        self.space.gravity = 0, 0
        self.space.damping = self.damping if self.damping is not None else 0.0
        self.teleop = False

        # Add walls
        walls = [
            self.add_segment(self.space, (5, 506), (5, 5), 2),
            self.add_segment(self.space, (5, 5), (506, 5), 2),
            self.add_segment(self.space, (506, 5), (506, 506), 2),
            self.add_segment(self.space, (5, 506), (506, 506), 2),
        ]
        self.space.add(*walls)

        # Add agent, block, and goal zone
        self.agent = self.add_circle(self.space, (256, 400), 15)
        self.block, self._block_shapes = self.add_tee(self.space, (256, 300), 0)
        self.goal_pose = np.array([256, 256, np.pi / 4])  # x, y, theta (in radians)
        if self.block_cog is not None:
            self.block.center_of_gravity = self.block_cog

        # Add collision handling
        self.collision_handeler = self.space.add_collision_handler(0, 0)
        self.collision_handeler.post_solve = self._handle_collision
        self.n_contact_points = 0