def init_sim()

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

• 48 lines of code
• 5 McCabe index (conditional complexity)

    def init_sim(self, root: mjcf.RootElement, frameskip: int = 5):
        W = 8
        add_fwd_corridor(root, W)
        self.n_steps = 10 * 2
        self.start_pos = 3.0
        self.top_width = 3.0
        color1 = [0.8, 0.9, 0.8, 1.0]
        color2 = [0.6, 0.6, 0.6, 1.0]
        length = 0.5

        xpos = self.start_pos + length / 2
        h2 = self.step_height / 2
        for i in range(self.n_steps // 2):
            add_box(
                root,
                f'step-{i}',
                size=[length / 2, W, h2],
                pos=[xpos, 0, h2],
                rgba=color1 if i % 2 == 0 else color2,
            )
            h2 += self.step_height / 2
            xpos += length
        h2 = self.n_steps // 2 * self.step_height / 2
        add_box(
            root,
            'top',
            size=[self.top_width, W, h2],
            pos=[xpos + self.top_width - length / 2, 0, h2],
            rgba=color1,
        )

        xpos += self.top_width * 2
        for i in range(self.n_steps // 2, self.n_steps):
            add_box(
                root,
                f'step-{i}',
                size=[length / 2, W, h2],
                pos=[xpos, 0, h2],
                rgba=color1 if i % 2 == 1 else color2,
            )
            h2 -= self.step_height / 2
            xpos += length

        root.worldbody.add(
            'camera',
            name='stairs_side',
            mode='trackcom',
            pos=[0, -6, 1],
            euler=[80, 0, 0],
        )

        super().init_sim(root, frameskip)