Module Import alias identifier Import alias ImportFrom alias ImportFrom alias ClassDef bases AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr body Expr Str Assign NameStore BinOpDiv AttributeLoad NameLoad attr Num Assign NameStore Num Assign NameStore NameLoad FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults Num NameLoad Num NameLoad Num Num body Expr Str Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr Call NameLoad NameLoad NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Return Num decorator_list NameLoad FunctionDef arguments args NameParam defaults body Return Num decorator_list NameLoad FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr Assign AttributeStore NameLoad attr Num decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str AugAssignAdd AttributeStore NameLoad attr Num AugAssignAdd AttributeStore NameLoad attr Call NameLoad SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Assert CompareEq Call NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num If AttributeLoad NameLoad attr body Assign NameStore BinOpMult Num BinOpSub BinOpDiv SubscriptLoad NameLoad Index Num Num Num Assign NameStore Num orelse Assign NameStore BinOpSub Call AttributeLoad NameLoad attr BinOpDiv SubscriptLoad NameLoad Index Num Num Num Assign NameStore BinOpMult Num NameLoad Assign NameStore BinOpSub BinOpMult Num Call AttributeLoad AttributeLoad NameLoad attr attr Num Assign NameStore BinOpSub BinOpMod SubscriptLoad NameLoad Index Num Num Num Assign NameStore BinOpAdd BinOpMult Num NameLoad BinOpMult AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr ListLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Return SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr Slice Num Num decorator_list FunctionDef arguments args NameParam defaults body If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return NameLoad Assign NameStore BinOpMult AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr If CompareGt NameLoad AttributeLoad NameLoad attr body Print Str AttributeLoad NameLoad attr NameLoad Return NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return Num Return Num decorator_list decorator_list ClassDef bases NameLoad body Expr Str Assign NameStore NameLoad FunctionDef arguments args NameParam defaults body Return Num decorator_list NameLoad FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Return ListComp SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr Index NameLoad comprehension NameStore ListLoad Num Num Num Num Num Num Num Num Num decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Print Str NameLoad Return NameLoad If CompareLt NameLoad Num body Print Str Return NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Num If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return Num orelse Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr If CompareLt NameLoad Num body Return Num orelse Return BinOpMult BinOpSub Num BinOpPow NameLoad Num NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpAdd BinOpPow BinOpSub NameLoad NameLoad Num BinOpPow BinOpSub NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num BinOpSub NameLoad BinOpPow NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpAdd BinOpMult BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad BinOpMult BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad Assign NameStore BinOpDiv NameLoad BinOpMult Num Call AttributeLoad NameLoad attr BinOpAdd BinOpPow BinOpSub NameLoad NameLoad Num BinOpPow BinOpSub NameLoad NameLoad Num Assign NameStore BinOpAdd BinOpMult BinOpAdd UnaryOpUSub NameLoad NameLoad BinOpSub NameLoad NameLoad BinOpMult BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad If CompareLtE NameLoad Num body Assign NameStore BinOpSub NameLoad Num orelse Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad Num Return NameLoad decorator_list decorator_list ClassDef bases NameLoad body Expr Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad BinOpMult Num AttributeLoad NameLoad attr Num Num Num Num Num BinOpMult Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num Num Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num Num Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num AttributeLoad NameLoad attr Assign NameStore ListLoad BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr BinOpAdd ListLoad Num NameLoad Slice Num FunctionDef arguments args NameParam defaults vararg kwarg body Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Return Num decorator_list NameLoad FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults body Assign NameStore ListLoad BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad If CompareGt NameLoad AttributeLoad NameLoad attr body Print Call AttributeLoad NameLoad attr Print Call AttributeLoad AttributeLoad NameLoad attr attr Print Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Print AttributeLoad NameLoad attr Print CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Print SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr Slice Num Num Print AttributeLoad NameLoad attr Print NameLoad Print NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Return BinOpMod BinOpDiv NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad NameLoad NameLoad AttributeLoad NameLoad attr AugAssignAdd AttributeStore NameLoad attr NameLoad Return NameLoad decorator_list decorator_list ClassDef bases NameLoad body Expr Str FunctionDef arguments args NameParam defaults body Return Num decorator_list NameLoad FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults body Return Call AttributeLoad NameLoad attr ListLoad Num NameLoad NameLoad BinOpPow NameLoad Num BinOpPow NameLoad Num BinOpMult NameLoad NameLoad NameLoad NameLoad BinOpPow NameLoad Num BinOpPow NameLoad Num BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad BinOpMult NameLoad BinOpPow NameLoad Num BinOpMult BinOpPow NameLoad Num NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Return Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad NameLoad NameLoad decorator_list decorator_list ClassDef bases NameLoad body Expr Str FunctionDef arguments args NameParam NameParam NameParam defaults NameLoad Num vararg kwarg body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign NameStore NameLoad If AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Return Num decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Expr Str If AttributeLoad NameLoad attr body Assign NameStore BinOpSub BinOpMult Num Call AttributeLoad AttributeLoad NameLoad attr attr Num Assign NameStore Num Assign NameStore BinOpMult AttributeLoad NameLoad attr NameLoad AugAssignAdd AttributeStore NameLoad attr Num AugAssignAdd AttributeStore NameLoad attr Call NameLoad SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Assert CompareEq Call NameLoad SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num If CompareEq SubscriptLoad NameLoad Index Num Num body Assign NameStore Num orelse If CompareEq SubscriptLoad NameLoad Index Num Num body Assign NameStore Num orelse If CompareEq SubscriptLoad NameLoad Index Num Num body AugAssignSub NameStore Num orelse If CompareEq SubscriptLoad NameLoad Index Num Num body AugAssignAdd NameStore Num Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr ListLoad NameLoad NameLoad orelse Expr Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults body If CompareGtE NameLoad Num body Assign NameStore BinOpSub AttributeLoad NameLoad attr NameLoad orelse Assign NameStore BinOpSub UnaryOpUSub AttributeLoad NameLoad attr NameLoad Return Call AttributeLoad NameLoad attr ListLoad Num NameLoad NameLoad BinOpPow NameLoad Num BinOpPow NameLoad Num BinOpMult NameLoad NameLoad NameLoad NameLoad BinOpPow NameLoad Num BinOpPow NameLoad Num BinOpMult NameLoad NameLoad BinOpMult NameLoad NameLoad BinOpMult NameLoad BinOpPow NameLoad Num BinOpMult BinOpPow NameLoad Num NameLoad NameLoad BinOpPow NameLoad Num BinOpMult NameLoad NameLoad NameLoad BinOpPow NameLoad Num BinOpMult NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Return Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return NameLoad Assign NameStore Call AttributeLoad NameLoad attr If CompareEq NameLoad Num body Print Str Return NameLoad Assign NameStore BinOpMult AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr If BoolOpOr CompareGt NameLoad AttributeLoad NameLoad attr CompareGt NameLoad AttributeLoad AttributeLoad NameLoad attr attr body Print Str AttributeLoad NameLoad attr NameLoad Print Str NameLoad Return NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body If CompareEq AttributeLoad NameLoad attr Num body Assign NameStore BinOpSub BinOpPow Call AttributeLoad AttributeLoad NameLoad attr attr Num BinOpPow AttributeLoad AttributeLoad NameLoad attr attr Num Assign NameStore BinOpSub Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Return BinOpSub UnaryOpUSub NameLoad BinOpMult NameLoad Num If CompareEq AttributeLoad NameLoad attr Num body If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return Num Assign NameStore Call AttributeLoad NameLoad attr If CompareEq NameLoad Num body Return Num Assign NameStore BinOpDiv Num BinOpAdd BinOpPow BinOpMult Num Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore BinOpAdd BinOpDiv Num NameLoad Num Assign NameStore BinOpDiv Num BinOpAdd BinOpPow BinOpMult Num Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Return BinOpAdd BinOpAdd NameLoad BinOpMult Num NameLoad BinOpMult Num NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpAdd BinOpPow BinOpSub NameLoad NameLoad Num BinOpPow BinOpSub NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num BinOpSub NameLoad BinOpPow NameLoad Num Return Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpAdd BinOpPow BinOpSub NameLoad NameLoad Num BinOpPow BinOpSub NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num BinOpSub NameLoad BinOpPow NameLoad Num Return Call AttributeLoad NameLoad attr NameLoad decorator_list decorator_list ClassDef bases NameLoad body Expr Str Assign NameStore Num Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad BinOpMult Num AttributeLoad NameLoad attr Num Num Num Num Num BinOpMult Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num Num Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num Num Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr ListLoad UnaryOpUSub AttributeLoad NameLoad attr Num Num Num AttributeLoad NameLoad attr Assign NameStore BinOpMult BinOpDiv AttributeLoad NameLoad attr Num Call AttributeLoad NameLoad attr Call NameLoad Num Num Num Assign NameStore ListLoad BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num BinOpSub Call NameLoad NameLoad Num Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr BinOpAdd ListLoad Num NameLoad Slice Num FunctionDef arguments args NameParam defaults body Return BinOpAdd Num Num decorator_list NameLoad FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults body Assign NameStore ListLoad BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr NameLoad If CompareGt NameLoad BinOpSub AttributeLoad NameLoad attr Num body Print Str Print Call AttributeLoad NameLoad attr Print Call AttributeLoad AttributeLoad NameLoad attr attr Print Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Print AttributeLoad NameLoad attr Print CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr Print Call AttributeLoad AttributeLoad NameLoad attr attr Print AttributeLoad NameLoad attr Print Call AttributeLoad NameLoad attr NameLoad Print NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Return BinOpMod BinOpDiv NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad NameLoad NameLoad BinOpSub AttributeLoad NameLoad attr Num Assign NameStore Call NameLoad BinOpSub SubscriptLoad Call AttributeLoad NameLoad attr ListLoad NameLoad AttributeLoad NameLoad attr Index Num Num Num Return Call AttributeLoad NameLoad attr TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return NameLoad Assign NameStore Call AttributeLoad NameLoad attr If CompareEq NameLoad Num body Print Str Return NameLoad Assign NameStore BinOpMult AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr If BoolOpOr CompareGt NameLoad AttributeLoad NameLoad attr CompareGt NameLoad AttributeLoad NameLoad attr body Print Str AttributeLoad NameLoad attr NameLoad Print Str NameLoad Return NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Num Assign NameStore Num If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return Num orelse Assign NameStore Call AttributeLoad NameLoad attr If CompareGt NameLoad AttributeLoad NameLoad attr body Print Str Return Num If CompareLt NameLoad Num body Print Str Return Num orelse Assign NameStore BinOpMult BinOpSub Num BinOpPow NameLoad Num Num Assign NameStore UnaryOpUSub Call AttributeLoad NameLoad attr SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr Index Num Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpAdd BinOpPow BinOpSub NameLoad NameLoad Num BinOpPow BinOpSub NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad Num BinOpSub NameLoad BinOpPow NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad NameLoad attr Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore ListLoad BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad Assign NameStore ListLoad BinOpSub NameLoad NameLoad BinOpSub NameLoad NameLoad Assign NameStore BinOpDiv Call AttributeLoad NameLoad attr NameLoad NameLoad BinOpMult Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list decorator_list ClassDef bases NameLoad body Expr Str FunctionDef arguments args NameParam defaults body If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return Num Return Num decorator_list decorator_list ClassDef bases NameLoad body FunctionDef arguments args NameParam defaults body If CompareGt Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr body Return Num Return UnaryOpUSub Call AttributeLoad NameLoad attr SubscriptLoad Call AttributeLoad AttributeLoad NameLoad attr attr Index Num decorator_list decorator_list ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam defaults Num vararg kwarg body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Print AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpDiv AttributeLoad NameLoad attr Num If CompareLt NameLoad BinOpMult BinOpDiv Num Num NameLoad body Assign NameStore Num orelse If BoolOpAnd CompareLtE BinOpMult BinOpDiv Num Num NameLoad NameLoad CompareLtE NameLoad BinOpMult BinOpDiv Num Num NameLoad body Assign NameStore Num orelse If BoolOpAnd CompareLtE BinOpMult BinOpDiv Num Num NameLoad NameLoad CompareLtE NameLoad NameLoad body Assign NameStore Num orelse If CompareGt NameLoad NameLoad body Assign NameStore Num If CompareGt NameLoad NameLoad body AugAssignAdd NameStore BinOpMult Num BinOpSub NameLoad NameLoad If CompareLt NameLoad NameLoad body AugAssignAdd NameStore BinOpMult Num BinOpSub NameLoad NameLoad If CompareLt NameLoad BinOpMult BinOpDiv Num Num NameLoad body Assign NameStore Num orelse If BoolOpAnd CompareLtE BinOpMult BinOpDiv Num Num NameLoad NameLoad CompareLtE NameLoad BinOpMult BinOpDiv Num Num NameLoad body Assign NameStore Num orelse If BoolOpAnd CompareLtE BinOpMult BinOpDiv Num Num NameLoad NameLoad CompareLtE NameLoad NameLoad body Assign NameStore Num orelse If CompareGt NameLoad NameLoad body Assign NameStore Num If CompareGt NameLoad NameLoad body AugAssignAdd NameStore BinOpMult Num BinOpSub NameLoad NameLoad If CompareLt NameLoad NameLoad body AugAssignAdd NameStore BinOpMult Num BinOpSub NameLoad NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list decorator_list
N/A N/A numpy np N/A pybrain.rl.environments pybrain.utilities one_to_n environment Environment BalanceTask N/A N/A N/A N/A pybrain rl environments EpisodicTask N/A N/A The rider is to simply balance the bicycle while moving with the
    prescribed speed.

    This class is heavily guided by
    pybrain.rl.environments.cartpole.balancetask.BalanceTask.

     N/A max_tilt N/A N/A np pi 6.0 N/A nactions 9 N/A goto False __init__ N/A N/A self butt_disturbance_amplitude only_steer max_time randomInitState x_goal y_goal N/A 0.02 False 1000.0 False 10 20 N/A N/A 
        Parameters
        ----------
        butt_disturbance_amplitude : float; optional
            In meters.
         N/A N/A N/A N/A super BalanceTask self __init__ N/A Environment randomInitState x_goal y_goal N/A N/A self _butt_disturbance_amplitude butt_disturbance_amplitude N/A N/A self only_steer only_steer N/A N/A self max_time max_time N/A N/A self t 0 N/A N/A self action_history N/A N/A np zeros N/A self nactions N/A indim N/A N/A self N/A N/A N/A 1 N/A property outdim N/A N/A self N/A N/A N/A 5 N/A property reset N/A N/A self N/A N/A N/A N/A N/A N/A super BalanceTask self reset N/A N/A self t 0 N/A performAction N/A N/A self action N/A N/A N/A Incoming action is an int between 0 and 8. The action we provide to
        the environment consists of a torque T in {-2 N, 0, 2 N}, and a
        displacement d in {-.02 m, 0, 0.02 m}.

         N/A N/A self t 1 N/A N/A self action_history N/A one_to_n N/A action N/A 0 N/A self nactions N/A N/A N/A round N/A action N/A 0 N/A action N/A 0 N/A N/A self only_steer N/A N/A T N/A 2 N/A N/A N/A action N/A 0 4.0 1.0 N/A d 0.0 N/A N/A torque_selector N/A N/A N/A np floor N/A N/A action N/A 0 3.0 1.0 N/A T N/A 2 torque_selector N/A p N/A N/A 2.0 N/A N/A N/A np random rand 1.0 N/A disp_selector N/A N/A N/A action N/A 0 3 1.0 N/A d N/A N/A 0.02 disp_selector N/A N/A self _butt_disturbance_amplitude p N/A N/A N/A N/A super BalanceTask self performAction N/A T d N/A getObservation N/A N/A self N/A N/A N/A N/A theta thetad omega omegad omegadd xf yf xb yb psi psig N/A N/A N/A self env getSensors N/A N/A N/A N/A N/A self env getSensors N/A 0 5 N/A isFinished N/A N/A self N/A N/A N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A True N/A elapsed_time N/A N/A N/A self env time_step N/A self t N/A N/A elapsed_time N/A self max_time N/A N/A hit max time. N/A self t elapsed_time N/A True N/A False N/A getReward N/A N/A self N/A N/A N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A -1.0 N/A 0.0 N/A N/A GotoTask N/A BalanceTask N/A N/A  The rider is to balance the bicycle while moving toward a 
    prescribed goal 
     N/A goto True outdim N/A N/A self N/A N/A N/A 9 N/A property getObservation N/A N/A self N/A N/A N/A N/A theta thetad omega omegad omegadd xf yf xb yb psi psig N/A N/A N/A self env getSensors N/A N/A N/A N/A N/A N/A self env getSensors N/A i N/A i N/A 0 1 2 3 4 5 6 9 10 N/A isFinished N/A N/A self N/A N/A N/A dist_to_goal N/A N/A self calc_dist_to_goal N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A distance to goal  dist_to_goal N/A True N/A N/A dist_to_goal 0.001 N/A N/A reached goal N/A True N/A False N/A getReward N/A N/A self N/A N/A N/A r_factor 0.0001 N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A -1.0 N/A N/A temp N/A N/A self calc_dist_to_goal N/A heading N/A N/A self calc_angle_to_goal N/A N/A temp 0.001 N/A N/A 0.01 N/A N/A N/A N/A 0.95 N/A heading 2 r_factor N/A calc_dist_to_goal N/A N/A self N/A N/A N/A x_goal N/A N/A self env x_goal N/A y_goal N/A N/A self env y_goal N/A r_goal N/A N/A self env r_goal N/A xf N/A N/A N/A self env getXF N/A yf N/A N/A N/A self env getYF N/A sqrd_dist_to_goal N/A N/A N/A x_goal xf 2 N/A N/A y_goal yf 2 N/A temp N/A N/A np max N/A 0 N/A sqrd_dist_to_goal N/A r_goal 2 N/A temp N/A N/A np sqrt temp N/A temp N/A calc_angle_to_goal N/A N/A self N/A N/A N/A x_goal N/A N/A self env x_goal N/A y_goal N/A N/A self env y_goal N/A xf N/A N/A N/A self env getXF N/A xb N/A N/A N/A self env getXB N/A yf N/A N/A N/A self env getYF N/A yb N/A N/A N/A self env getYB N/A temp N/A N/A N/A xf xb N/A x_goal xf N/A N/A yf yb N/A y_goal yf N/A scalar N/A temp N/A 1 N/A N/A np sqrt N/A N/A N/A x_goal xf 2 N/A N/A y_goal yf 2 N/A tvaer N/A N/A N/A N/A yf yb N/A x_goal xf N/A N/A xf xb N/A y_goal yf N/A N/A tvaer 0 N/A N/A temp N/A scalar 1 N/A N/A temp N/A N/A np abs N/A scalar 1 N/A temp N/A N/A LinearFATileCoding3456BalanceTask N/A BalanceTask N/A N/A An attempt to exactly implement Randlov's function approximation. He
    discretized (tiled) the input space into 3456 tiles.

     N/A theta_bounds N/A N/A np array N/A N/A -0.5 N/A np pi -1.0 -0.2 0 0.2 1.0 N/A 0.5 N/A np pi N/A thetad_bounds N/A N/A np array N/A N/A N/A np inf -2.0 0 2.0 N/A np inf N/A omega_bounds N/A N/A np array N/A N/A N/A BalanceTask max_tilt -0.15 -0.06 0 0.06 0.15 N/A BalanceTask max_tilt N/A omegad_bounds N/A N/A np array N/A N/A N/A np inf -0.5 -0.25 0 0.25 0.5 N/A np inf N/A omegadd_bounds N/A N/A np array N/A N/A N/A np inf -2.0 0 2.0 N/A np inf N/A nbins_across_dims N/A N/A N/A len theta_bounds 1 N/A N/A len thetad_bounds 1 N/A N/A len omega_bounds 1 N/A N/A len omegad_bounds 1 N/A N/A len omegadd_bounds 1 N/A magic_array N/A N/A N/A np cumprod N/A N/A 1 nbins_across_dims N/A -1 __init__ N/A N/A self N/A args kwargs N/A N/A N/A N/A N/A super LinearFATileCoding3456BalanceTask self __init__ args kwargs N/A N/A self bin_count N/A N/A np zeros N/A self outdim N/A outdim N/A N/A self N/A N/A N/A 3456 N/A property getBin N/A N/A self theta thetad omega omegad omegadd N/A N/A N/A bin_indices N/A N/A N/A N/A N/A np digitize N/A theta N/A self theta_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A thetad N/A self thetad_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A omega N/A self omega_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A omegad N/A self omegad_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A omegadd N/A self omegadd_bounds N/A 0 1 N/A linear_index N/A N/A np dot N/A self magic_array bin_indices N/A N/A linear_index N/A self outdim N/A N/A N/A N/A self isFinished N/A N/A N/A N/A self env getTilt N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A N/A self max_tilt N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A N/A N/A N/A self env getSensors N/A 0 5 N/A N/A self magic_array N/A bin_index_for_each_dim N/A linear_index N/A linear_index N/A getBinIndices N/A N/A self linear_index N/A N/A N/A Given a linear index (integer between 0 and outdim), returns the bin
        indices for each of the state dimensions.

         N/A N/A N/A linear_index N/A self magic_array N/A self nbins_across_dims N/A getObservation N/A N/A self N/A N/A N/A N/A theta thetad omega omegad omegadd xf yf xb yb psi psig N/A N/A N/A self env getSensors N/A state N/A one_to_n N/A N/A self getBin theta thetad omega omegad omegadd N/A self outdim N/A N/A self bin_count state N/A state N/A N/A LSPIBalanceTask N/A BalanceTask N/A N/A Lagoudakis, 2002; simplified for just balancing. Also, we're still using
    all 9 possible actions.

     outdim N/A N/A self N/A N/A N/A 14 N/A property getPhi N/A N/A self theta thetad omega omegad omegadd N/A N/A N/A N/A N/A np array N/A 1 omega omegad N/A omega 2 N/A omegad 2 N/A omega omegad theta thetad N/A theta 2 N/A thetad 2 N/A theta thetad N/A omega theta N/A omega N/A theta 2 N/A N/A omega 2 theta N/A getObservation N/A N/A self N/A N/A N/A N/A theta thetad omega omegad omegadd xf yf xb yb psi psig N/A N/A N/A self env getSensors N/A N/A N/A self getPhi theta thetad omega omegad omegadd N/A N/A LSPIGotoTask N/A BalanceTask N/A N/A Lagoudakis, 2002, trying to implement the balance + goto task
     __init__ N/A N/A self five_actions rewardType N/A False 1 args kwargs N/A N/A N/A N/A BalanceTask __init__ self args kwargs N/A N/A self five_actions five_actions N/A goto True N/A N/A self five_actions N/A N/A N/A self nactions 5 N/A N/A self action_history N/A N/A np zeros N/A self nactions N/A N/A self rewardType rewardType N/A outdim N/A N/A self N/A N/A N/A 20 N/A property performAction N/A N/A self action N/A N/A N/A  adding the option to use an action space of size 5, where 
        we either apply a torque (+/- 2.0), displace the butt (+/- 0.02),
        or do nothing (ala, Lagoudakis).
         N/A N/A self five_actions N/A N/A p N/A N/A 2.0 N/A N/A N/A np random rand 1.0 N/A T 0 N/A d N/A N/A self _butt_disturbance_amplitude p N/A N/A self t 1 N/A N/A self action_history N/A one_to_n N/A action N/A 0 N/A self nactions N/A N/A N/A round N/A action N/A 0 N/A action N/A 0 N/A N/A N/A action N/A 0 0 N/A N/A T -2 N/A N/A N/A N/A action N/A 0 1 N/A N/A T 2 N/A N/A N/A N/A action N/A 0 2 N/A N/A d 0.02 N/A N/A N/A N/A action N/A 0 3 N/A N/A d 0.02 N/A N/A N/A N/A super BalanceTask self performAction N/A T d N/A N/A N/A N/A BalanceTask performAction self action N/A getPhi N/A N/A self theta thetad omega omegad omegadd psig N/A N/A N/A N/A psig 0 N/A N/A psig_bar N/A N/A np pi psig N/A N/A psig_bar N/A N/A N/A np pi psig N/A N/A N/A np array N/A 1 omega omegad N/A omega 2 N/A omegad 2 N/A omega omegad theta thetad N/A theta 2 N/A thetad 2 N/A theta thetad N/A omega theta N/A omega N/A theta 2 N/A N/A omega 2 theta psig N/A psig 2 N/A psig theta psig_bar N/A psig_bar 2 N/A psig_bar theta N/A getObservation N/A N/A self N/A N/A N/A N/A theta thetad omega omegad omegadd xf yf xb yb psi psig N/A N/A N/A self env getSensors N/A N/A N/A self getPhi theta thetad omega omegad omegadd psig N/A isFinished N/A N/A self N/A N/A N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A True N/A dist_to_goal N/A N/A self calc_dist_to_goal N/A N/A dist_to_goal 0 N/A N/A reached goal N/A True N/A elapsed_time N/A N/A N/A self env time_step N/A self t N/A N/A N/A elapsed_time N/A self max_time N/A dist_to_goal N/A N/A self env max_distance N/A N/A time elapsed N/A self t elapsed_time N/A distance to goal dist_to_goal N/A True N/A False N/A getReward N/A N/A self N/A N/A N/A N/A N/A self rewardType 1 N/A N/A delta_tilt N/A N/A N/A N/A N/A self env getTilt 2 N/A N/A N/A self env last_omega 2 N/A delta_dist N/A N/A N/A self calc_dist_to_goal N/A N/A self calc_last_dist_to_goal N/A N/A N/A delta_tilt N/A delta_dist 0.01 N/A N/A N/A self rewardType 2 N/A N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A -1 N/A dist_to_goal N/A N/A self calc_dist_to_goal N/A N/A dist_to_goal 0 N/A N/A 1 N/A tiltReward N/A 1 N/A N/A N/A 10 N/A N/A N/A self env getTilt 2 1 N/A distReward N/A N/A 10 dist_to_goal 1 N/A headingReward N/A 5 N/A N/A N/A 10 N/A N/A N/A self env getPSIG 2 1 N/A N/A N/A tiltReward N/A 0.1 distReward N/A 0.01 headingReward N/A calc_last_dist_to_goal N/A N/A self N/A N/A N/A x_goal N/A N/A self env x_goal N/A y_goal N/A N/A self env y_goal N/A r_goal N/A N/A self env r_goal N/A last_xf N/A N/A self env last_xf N/A last_yf N/A N/A self env last_yf N/A sqrd_dist_to_goal N/A N/A N/A x_goal last_xf 2 N/A N/A y_goal last_yf 2 N/A temp N/A N/A np max N/A 0 N/A sqrd_dist_to_goal N/A r_goal 2 N/A N/A N/A np sqrt temp N/A calc_dist_to_goal N/A N/A self N/A N/A N/A x_goal N/A N/A self env x_goal N/A y_goal N/A N/A self env y_goal N/A r_goal N/A N/A self env r_goal N/A xf N/A N/A N/A self env getXF N/A yf N/A N/A N/A self env getYF N/A sqrd_dist_to_goal N/A N/A N/A x_goal xf 2 N/A N/A y_goal yf 2 N/A temp N/A N/A np max N/A 0 N/A sqrd_dist_to_goal N/A r_goal 2 N/A N/A N/A np sqrt temp N/A N/A LinearFATileCoding3476GoToTask N/A BalanceTask N/A N/A An attempt to exactly implement Randlov's function approximation. He
    discretized (tiled) the input space into 3476 (3456 balance states + 20 
    heading states) tiles.
     N/A max_distance 1000 N/A goto True N/A theta_bounds N/A N/A np array N/A N/A -0.5 N/A np pi -1.0 -0.2 0 0.2 1.0 N/A 0.5 N/A np pi N/A thetad_bounds N/A N/A np array N/A N/A N/A np inf -2.0 0 2.0 N/A np inf N/A omega_bounds N/A N/A np array N/A N/A N/A BalanceTask max_tilt -0.15 -0.06 0 0.06 0.15 N/A BalanceTask max_tilt N/A omegad_bounds N/A N/A np array N/A N/A N/A np inf -0.5 -0.25 0 0.25 0.5 N/A np inf N/A omegadd_bounds N/A N/A np array N/A N/A N/A np inf -2.0 0 2.0 N/A np inf N/A psi_bounds N/A N/A N/A np pi 180 N/A N/A np array N/A range -180 180 18 N/A nbins_across_dims N/A N/A N/A len theta_bounds 1 N/A N/A len thetad_bounds 1 N/A N/A len omega_bounds 1 N/A N/A len omegad_bounds 1 N/A N/A len omegadd_bounds 1 N/A magic_array N/A N/A N/A np cumprod N/A N/A 1 nbins_across_dims N/A -1 outdim N/A N/A self N/A N/A N/A N/A 3456 20 N/A property getBin N/A N/A self theta thetad omega omegad omegadd N/A N/A N/A bin_indices N/A N/A N/A N/A N/A np digitize N/A theta N/A self theta_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A thetad N/A self thetad_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A omega N/A self omega_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A omegad N/A self omegad_bounds N/A 0 1 N/A N/A N/A N/A np digitize N/A omegadd N/A self omegadd_bounds N/A 0 1 N/A linear_index N/A N/A np dot N/A self magic_array bin_indices N/A N/A linear_index N/A N/A self outdim 20 N/A N/A DEBUG N/A N/A N/A self isFinished N/A N/A N/A N/A self env getTilt N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A N/A self max_tilt N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A N/A N/A self env getSensors N/A N/A self magic_array N/A N/A N/A self getBinIndices linear_index N/A linear_index N/A linear_index N/A getBinIndices N/A N/A self linear_index N/A N/A N/A Given a linear index (integer between 0 and outdim), returns the bin
        indices for each of the state dimensions.

         N/A N/A N/A linear_index N/A self magic_array N/A self nbins_across_dims N/A getObservation N/A N/A self N/A N/A N/A N/A theta thetad omega omegad omegadd xf yf xb yb psi psig N/A N/A N/A self env getSensors N/A top_half N/A one_to_n N/A N/A self getBin theta thetad omega omegad omegadd N/A N/A self outdim 20 N/A bot_half N/A one_to_n N/A N/A N/A N/A np digitize N/A psig N/A self psi_bounds N/A 0 1 20 N/A N/A N/A np concatenate N/A top_half bot_half N/A isFinished N/A N/A self N/A N/A N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A True N/A dist_to_goal N/A N/A self calc_dist_to_goal N/A N/A dist_to_goal 0 N/A N/A reached goal N/A True N/A elapsed_time N/A N/A N/A self env time_step N/A self t N/A N/A N/A elapsed_time N/A self max_time N/A dist_to_goal N/A self max_distance N/A N/A time elapsed N/A self t elapsed_time N/A distance to goal dist_to_goal N/A True N/A False N/A getReward N/A N/A self N/A N/A N/A psig N/A N/A N/A self env getPSIG N/A r_factor 0.01 N/A rh_factor 1e-05 N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A -1.0 N/A N/A distance N/A N/A self calc_dist_to_goal N/A N/A distance N/A self max_distance N/A N/A MAX DISTANCE REACHED N/A -1.0 N/A N/A distance 0.001 N/A N/A DEBUG: GOAL REACHED N/A 0.01 N/A N/A r1 N/A N/A 4 N/A psig 2 4e-05 N/A r2 N/A N/A N/A np abs N/A N/A N/A N/A self env getSensors N/A 0 N/A r1 N/A calc_dist_to_goal N/A N/A self N/A N/A N/A x_goal N/A N/A self env x_goal N/A y_goal N/A N/A self env y_goal N/A r_goal N/A N/A self env r_goal N/A xf N/A N/A N/A self env getXF N/A yf N/A N/A N/A self env getYF N/A sqrd_dist_to_goal N/A N/A N/A x_goal xf 2 N/A N/A y_goal yf 2 N/A temp N/A N/A np max N/A 0 N/A sqrd_dist_to_goal N/A r_goal 2 N/A temp N/A N/A np sqrt temp N/A temp N/A calc_angle_to_goal N/A N/A self N/A N/A N/A x_goal N/A self x_goal N/A y_goal N/A self y_goal N/A xf N/A N/A N/A self env getXF N/A xb N/A N/A N/A self env getXB N/A yf N/A N/A N/A self env getYF N/A yb N/A N/A N/A self env getYB N/A f2g N/A N/A xf x_goal N/A yf y_goal N/A b2f N/A N/A xf xb N/A yf yb N/A temp N/A N/A N/A np dot f2g b2f N/A N/A N/A N/A np linalg norm f2g N/A N/A N/A np linalg norm b2f N/A temp N/A N/A np arccos temp N/A temp N/A N/A LinearFATileCoding3476BalanceTask N/A LinearFATileCoding3476GoToTask N/A N/A  This class will implement the balance task using tiled states for 
        heading.
     getReward N/A N/A self N/A N/A N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A -1.0 N/A 0.0 N/A N/A Proportional3456ControlBalanceTask N/A LinearFATileCoding3456BalanceTask N/A getReward N/A N/A self N/A N/A N/A N/A N/A N/A np abs N/A N/A N/A self env getTilt N/A self max_tilt N/A N/A -1.0 N/A N/A N/A N/A np abs N/A N/A N/A N/A self env getSensors N/A 0 N/A N/A LinearFATileCoding3476GoToTask_Reward1 N/A LinearFATileCoding3476GoToTask N/A __init__ N/A N/A self c N/A 1.0 args kwargs N/A N/A N/A N/A LinearFATileCoding3476GoToTask __init__ self args kwargs N/A N/A self c c N/A N/A self c N/A getReward N/A N/A self N/A N/A N/A x N/A N/A np abs N/A N/A N/A self env getTilt N/A PrevTilt N/A N/A np abs N/A N/A self env last_omega N/A max_tilt N/A LinearFATileCoding3456BalanceTask max_tilt N/A y N/A N/A np abs N/A N/A N/A self env getPSIG N/A PrevPsiG N/A N/A np abs N/A N/A self env last_psig N/A max_PsiG N/A N/A np pi 2.0 N/A N/A x N/A N/A 1.0 3 max_tilt N/A N/A R1 5.0 N/A N/A N/A N/A N/A N/A 1.0 3 max_tilt x N/A x N/A N/A 2.0 3 max_tilt N/A N/A R1 1.0 N/A N/A N/A N/A N/A N/A 2.0 3 max_tilt x N/A x max_tilt N/A N/A R1 -5.0 N/A N/A N/A x max_tilt N/A N/A R1 -15.0 N/A N/A PrevTilt x N/A N/A R1 N/A 5000.0 N/A PrevTilt x N/A N/A PrevTilt x N/A N/A R1 N/A 3000.0 N/A PrevTilt x N/A N/A y N/A N/A 1.0 3 max_PsiG N/A N/A R2 5.0 N/A N/A N/A N/A N/A N/A 1.0 3 max_PsiG y N/A y N/A N/A 2.0 3 max_PsiG N/A N/A R2 1.0 N/A N/A N/A N/A N/A N/A 2.0 3 max_PsiG y N/A y max_PsiG N/A N/A R2 -5.0 N/A N/A N/A y max_PsiG N/A N/A R2 -15.0 N/A N/A PrevPsiG y N/A N/A R2 N/A 5000.0 N/A PrevPsiG y N/A N/A PrevPsiG y N/A N/A R2 N/A 3000.0 N/A PrevPsiG y N/A R N/A R1 N/A N/A self c R2 N/A R N/A N/A