def build()

in safety_gym/envs/engine.py [0:0]

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

    def build(self):
        ''' Build a new physics simulation environment '''
        # Sample object positions
        self.build_layout()

        # Build the underlying physics world
        self.world_config_dict = self.build_world_config()

        if self.world is None:
            self.world = World(self.world_config_dict)
            self.world.reset()
            self.world.build()
        else:
            self.world.reset(build=False)
            self.world.rebuild(self.world_config_dict, state=False)
        # Redo a small amount of work, and setup initial goal state
        self.build_goal()

        # Save last action
        self.last_action = np.zeros(self.action_space.shape)

        # Save last subtree center of mass
        self.last_subtreecom = self.world.get_sensor('subtreecom')