def init_sim()

in bisk/tasks/gaps.py [0:0]

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

    def init_sim(self, root: mjcf.RootElement, frameskip: int = 5):
        W = 8
        add_fwd_corridor(root, W)
        root.find('geom', 'floor').remove()

        # Base platform
        H = 0.1
        root.asset.add(
            'material',
            name='mat_base',
            reflectance=0.5,
            shininess=1,
            specular=1,
            texrepeat=[1, 1],
            texuniform=True,
            texture='tex_plane',
        )
        root.asset.add(
            'texture',
            name='tex_lava',
            type='2d',
            file=f'{asset_path()}/lava.png',
        )
        root.asset.add(
            'material',
            name='mat_gaps',
            reflectance=0.5,
            shininess=1,
            specular=1,
            texrepeat=[1, 1],
            texuniform=True,
            texture='tex_lava',
        )
        add_box(
            root,
            f'base',
            size=[(W + 4) / 2, W, H],
            pos=[(-W + 4) / 2, 0, -H],
            conaffinity=1,
            material='mat_base',
        )

        # 200 platforms should be enough for everybody
        self.n_platforms = 200
        root.asset.add(
            'material',
            name='mat_platform',
            reflectance=0.5,
            shininess=1,
            specular=1,
        )
        for i in range(self.n_platforms):
            o = (i % 2) * 0.1
            add_box(
                root,
                f'platform-{i}',
                size=[1, W, H],
                pos=[2, 0, -H],
                material='mat_platform',
                rgba=[0.2 + o, 0.3 + o, 0.4 + o, 1.0],
            )
            # Gaps are placed 5cm below
            g = add_box(
                root,
                f'gap-{i}',
                size=[1, W, H],
                pos=[2, 0, -H - 0.05],
                material='mat_gaps',
            )

        super().init_sim(root, frameskip)