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mushroom_rl/environments/pybullet_envs/air_hockey/repel.py

Summary

Maintainability
F
1 wk
Test Coverage
C
73%

Function reward has a Cognitive Complexity of 11 (exceeds 5 allowed). Consider refactoring.
Open

    def reward(self, state, action, next_state, absorbing):
        r = 0
        puck_pos = self.get_sim_state(next_state, "puck", PyBulletObservationType.BODY_POS)[:3]
        puck_vel = self.get_sim_state(next_state, "puck", PyBulletObservationType.BODY_LIN_VEL)[:3]
Severity: Minor
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py - About 1 hr to fix

Cognitive Complexity

Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

A method's cognitive complexity is based on a few simple rules:

  • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
  • Code is considered more complex for each "break in the linear flow of the code"
  • Code is considered more complex when "flow breaking structures are nested"

Further reading

Function _simulation_post_step has a Cognitive Complexity of 6 (exceeds 5 allowed). Consider refactoring.
Open

    def _simulation_post_step(self):
        if not self.has_hit:
            collision_count = len(self.client.getContactPoints(self._model_map['puck'],
                                                               self._indexer.link_map['planar_robot_1/'
                                                                                      'link_striker_ee'][0],
Severity: Minor
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py - About 25 mins to fix

Cognitive Complexity

Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

A method's cognitive complexity is based on a few simple rules:

  • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
  • Code is considered more complex for each "break in the linear flow of the code"
  • Code is considered more complex when "flow breaking structures are nested"

Further reading

Similar blocks of code found in 2 locations. Consider refactoring.
Open

    def setup(self, state=None):
        if self.random_init:
            puck_pos = np.random.rand(2) * (self.start_range[:, 1] - self.start_range[:, 0]) + self.start_range[:, 0]
            puck_pos = np.concatenate([puck_pos, [-0.189]])
Severity: Major
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py and 1 other location - About 4 days to fix
mushroom_rl/environments/pybullet_envs/air_hockey/defend.py on lines 39..70

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 420.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Identical blocks of code found in 2 locations. Consider refactoring.
Open

    def _simulation_post_step(self):
        if not self.has_hit:
            collision_count = len(self.client.getContactPoints(self._model_map['puck'],
                                                               self._indexer.link_map['planar_robot_1/'
                                                                                      'link_striker_ee'][0],
Severity: Major
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py and 1 other location - About 3 days to fix
mushroom_rl/environments/pybullet_envs/air_hockey/defend.py on lines 124..156

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 373.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Identical blocks of code found in 2 locations. Consider refactoring.
Open

            if self.has_hit:

                r_x = puck_pos[0] + 0.98
                r_vel = min([puck_vel[0] ** 3, 5])
Severity: Major
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py and 1 other location - About 1 day to fix
mushroom_rl/environments/pybullet_envs/air_hockey/defend.py on lines 87..110

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 200.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Identical blocks of code found in 4 locations. Consider refactoring.
Open

        if absorbing:
            # big penalty if we coincide a goal
            if puck_pos[0] + self.env_spec['table']['length'] / 2 < 0 and \
                    np.abs(puck_pos[1]) - self.env_spec['table']['goal'] < 0:
                r = -50
Severity: Major
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py and 3 other locations - About 5 hrs to fix
mushroom_rl/environments/mujoco_envs/air_hockey/defend.py on lines 63..67
mushroom_rl/environments/mujoco_envs/air_hockey/repel.py on lines 66..70
mushroom_rl/environments/pybullet_envs/air_hockey/defend.py on lines 78..82

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 90.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Similar blocks of code found in 2 locations. Consider refactoring.
Open

        super().__init__(gamma=gamma, horizon=horizon, timestep=timestep, n_intermediate_steps=n_intermediate_steps,
Severity: Major
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py and 1 other location - About 1 hr to fix
mushroom_rl/environments/pybullet_envs/air_hockey/defend.py on lines 34..34

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 46.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Identical blocks of code found in 2 locations. Consider refactoring.
Open

    def __init__(self, gamma=0.99, horizon=500, env_noise=False, obs_noise=False, obs_delay=False, torque_control=True,
                 step_action_function=None, timestep=1 / 240., n_intermediate_steps=1, debug_gui=False,
                 random_init=False, action_penalty=1e-3, table_boundary_terminate=False, init_velocity_range=(1, 2.2)):
Severity: Major
Found in mushroom_rl/environments/pybullet_envs/air_hockey/repel.py and 1 other location - About 1 hr to fix
mushroom_rl/environments/pybullet_envs/air_hockey/defend.py on lines 13..15

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 41.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

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