def create_scene()

in experiments/rolling/RollingEnv.py [0:0]
49 lines of code
5 McCabe index (conditional complexity)

    def create_scene(self):
        """
        Create scene and tacto simulator
        """

        # Initialize digits
        digits = tacto.Sensor(
            width=self.tactoResolution[0],
            height=self.tactoResolution[1],
            visualize_gui=self.visTacto,
        )

        if self.visPyBullet:
            self.physicsClient = pb.connect(pb.GUI)
        else:
            self.physicsClient = pb.connect(pb.DIRECT)

        pb.setAdditionalSearchPath(pybullet_data.getDataPath())  # optionally
        pb.setGravity(0, 0, -9.81)  # Major Tom to planet Earth

        # Set camera view
        pb.resetDebugVisualizerCamera(
            cameraDistance=0.12,
            cameraYaw=0,
            cameraPitch=-20,
            cameraTargetPosition=[0, 0, 0.02],
        )

        pb.loadURDF("plane.urdf")  # Create plane

        digitURDF = "setup/sensors/digit.urdf"
        # Set upper digit
        digitPos1 = [0, 0, 0.011]
        digitOrn1 = pb.getQuaternionFromEuler([0, -np.pi / 2, 0])
        digitID1 = pb.loadURDF(
            digitURDF,
            basePosition=digitPos1,
            baseOrientation=digitOrn1,
            useFixedBase=True,
        )
        digits.add_camera(digitID1, [-1])

        # Set lower digit
        digitPos2 = [0, 0, 0.07]
        digitOrn2 = pb.getQuaternionFromEuler([0, np.pi / 2, np.pi])
        digitID2 = pb.loadURDF(
            digitURDF, basePosition=digitPos2, baseOrientation=digitOrn2,
        )
        digits.add_camera(digitID2, [-1])

        # Create object and GUI controls
        init_xyz = np.array([0, 0.0, 8])

        # Add object to pybullet and tacto simulator
        urdfObj = "setup/objects/sphere_small.urdf"
        objPos = np.array([-1.5, 0, 4]) / 100
        objOrn = pb.getQuaternionFromEuler([0, 0, 0])
        globalScaling = 0.15

        # Add ball urdf into pybullet and tacto
        objId = digits.loadURDF(urdfObj, objPos, objOrn, globalScaling=globalScaling)

        # Add constraint to movable digit (upper)
        cid = pb.createConstraint(
            digitID2, -1, -1, -1, pb.JOINT_FIXED, [0, 0, 0], [0, 0, 0], init_xyz / 100
        )

        # Save variables
        self.digits = digits

        self.digitID1, self.digitPos1, self.digitOrn1 = digitID1, digitPos1, digitOrn1
        self.digitID2, self.digitPos2, self.digitOrn2 = digitID2, digitPos2, digitOrn2
        self.objId, self.objPos, self.objOrn = objId, objPos, objOrn
        self.cid = cid