def add_fwd_corridor()

in bisk/helpers.py [0:0]

• 33 lines of code
• 2 McCabe index (conditional complexity)

def add_fwd_corridor(root: mjcf.RootElement, W=4):
    WH = 2
    wall_alpha = 0.0  # for debugging
    # Change rendering of floor to fit the intended path
    floor = root.find('geom', 'floor')
    floor.size = [100, W, 1]
    floor.pos = [100 - W, 0, 0]
    # Add border walls
    root.worldbody.add(
        'geom',
        type='plane',
        name='wall_left',
        xyaxes=[1, 0, 0, 0, 0, 1],
        size=[100, WH, 1],
        pos=[100 - W, W, WH],
        rgba=[0, 0, 0, wall_alpha],
    )
    root.worldbody.add(
        'geom',
        type='plane',
        name='wall_right',
        xyaxes=[-1, 0, 0, 0, 0, 1],
        size=[100, WH, 1],
        pos=[100 - W, -W, WH],
        rgba=[0, 0, 0, wall_alpha],
    )
    root.worldbody.add(
        'geom',
        type='plane',
        name='wall_back',
        xyaxes=[0, 1, 0, 0, 0, 1],
        size=[W, WH, 1],
        pos=[-4, 0, WH],
        rgba=[0, 0, 0, wall_alpha],
    )