Module Import alias identifier Import alias Import alias Import alias identifier ImportFrom alias ImportFrom alias alias ImportFrom alias ImportFrom alias alias alias ImportFrom alias ImportFrom alias Assign NameStore Num ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults Num NameLoad Num Num NameLoad NameLoad body Assign AttributeStore NameLoad attr NameLoad If CompareIs NameLoad NameLoad body If Call AttributeLoad NameLoad attr Str body With Call NameLoad NameLoad NameStore body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr keyword IfExp CompareIsNot NameLoad NameLoad NameLoad Dict orelse With Call NameLoad NameLoad Str NameStore body Assign NameStore Call AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore Call NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Dict decorator_list Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str Call AttributeLoad NameLoad attr Str keyword NameLoad keyword Str FunctionDef arguments args NameParam NameParam defaults body Return Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad BinOpMod Str NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr TupleLoad Num Num For TupleStore NameStore NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr NameLoad body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameLoad Assign AttributeStore NameLoad attr TupleLoad NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr TupleLoad NameLoad NameLoad Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Return Call AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Dict decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore ListLoad For NameStore AttributeLoad AttributeLoad NameLoad attr attr body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad Call NameLoad AttributeLoad NameLoad attr ListLoad AttributeLoad NameLoad attr Call NameLoad AttributeLoad NameLoad attr ListLoad AttributeLoad NameLoad attr Return Call AttributeLoad NameLoad attr NameLoad decorator_list NameLoad FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr ListComp SubscriptLoad AttributeLoad NameLoad attr Index Num comprehension NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr ListComp SubscriptLoad AttributeLoad NameLoad attr Index Num comprehension NameStore AttributeLoad AttributeLoad NameLoad attr attr Return Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list NameLoad NameLoad FunctionDef arguments args NameParam defaults body If AttributeLoad NameLoad attr body Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr orelse Assign NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Return Call AttributeLoad NameLoad attr BinOpMult NameLoad Num NameLoad decorator_list NameLoad NameLoad FunctionDef arguments args NameParam defaults body Return AttributeLoad AttributeLoad NameLoad attr attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body If CompareNotEq Call NameLoad NameLoad AttributeLoad NameLoad attr body Raise Call NameLoad BinOpMod Str TupleLoad AttributeLoad NameLoad attr Call NameLoad NameLoad Assign TupleStore NameStore NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad For TupleStore NameStore NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr NameLoad body If CompareEq AttributeLoad NameLoad attr Str body For NameStore AttributeLoad NameLoad attr body Assign NameStore Call NameLoad AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore BinOpDiv NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpMult NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad NameLoad keyword NameLoad orelse If CompareEq AttributeLoad NameLoad attr Str body Assert AttributeLoad NameLoad attr Assign NameStore Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign AttributeStore NameLoad attr NameLoad If CompareGt NameLoad Num body Assign AttributeStore NameLoad attr Num orelse Assign AttributeStore NameLoad attr Num Assign AttributeStore NameLoad attr Call NameLoad NameLoad orelse Raise NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Raise NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad For NameStore Call NameLoad AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Return Call NameLoad keyword NameLoad keyword NameLoad keyword NameLoad decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Expr Str Return SubscriptLoad NameLoad Index Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Return Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Expr Str Assign NameStore BinOpMult BinOpMult Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad NameLoad attr Return BinOpAdd NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam defaults body Raise NameLoad decorator_list FunctionDef arguments args NameParam defaults body Raise NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore BinOpMult AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr keyword AttributeLoad NameLoad attr Assign TupleStore NameStore NameStore AttributeLoad NameLoad attr Assign NameStore BinOpMult BinOpMult Num BinOpSub NameLoad NameLoad NameLoad Return BinOpAdd NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad If AttributeLoad NameLoad attr body Return Call AttributeLoad NameLoad attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body If CompareIs AttributeLoad NameLoad attr NameLoad body Assign AttributeStore NameLoad attr ListLoad For TupleStore NameStore NameStore Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr body If CompareIn AttributeLoad NameLoad attr ListLoad Str Str Str Str Str body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Return AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Expr Str If CompareIsNot AttributeLoad NameLoad attr NameLoad body Return AttributeLoad NameLoad attr Assign NameStore ListLoad For NameStore AttributeLoad AttributeLoad NameLoad attr attr body Assign NameStore NameLoad If AttributeLoad NameLoad attr body Assign NameStore Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr If CompareIsNot AttributeLoad NameLoad attr NameLoad body Assign NameStore AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad orelse Assign NameStore AttributeLoad NameLoad attr Assign NameStore AttributeLoad NameLoad attr If CompareIsNot AttributeLoad NameLoad attr NameLoad body Assign NameStore Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore AttributeLoad NameLoad attr orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore AttributeLoad NameLoad attr orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr BinOpSub NameLoad AttributeLoad NameLoad attr orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore BinOpSub AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpDiv Call AttributeLoad NameLoad attr TupleLoad Num Num Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign NameStore BinOpAdd AttributeLoad NameLoad attr NameLoad orelse Raise NameLoad orelse If AttributeLoad NameLoad attr body Assign NameStore Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore AttributeLoad NameLoad attr orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore AttributeLoad NameLoad attr orelse Raise NameLoad orelse If AttributeLoad NameLoad attr body Assign NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore SubscriptLoad NameLoad Index Num orelse Print AttributeLoad NameLoad attr Raise NameLoad orelse Raise NameLoad If CompareIsNot AttributeLoad NameLoad attr NameLoad body If CompareEq AttributeLoad NameLoad attr Str body Pass orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore Call AttributeLoad NameLoad attr NameLoad orelse If CompareEq AttributeLoad NameLoad attr Str body Assign NameStore Call AttributeLoad NameLoad attr NameLoad orelse Raise NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr NameLoad Return AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults vararg body Assign NameStore Call AttributeLoad Str attr Call NameLoad NameLoad If CompareIn NameLoad AttributeLoad NameLoad attr body Return SubscriptLoad AttributeLoad NameLoad attr Index NameLoad Assign NameStore Num Assign NameStore Num For NameStore NameLoad body Assign NameStore Call NameLoad AttributeLoad NameLoad attr NameLoad AugAssignAdd NameStore BinOpMult AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr BinOpAdd Call NameLoad AttributeLoad NameLoad attr Call NameLoad AttributeLoad NameLoad attr AugAssignAdd NameStore AttributeLoad NameLoad attr Assign NameStore BinOpDiv NameLoad NameLoad Assign SubscriptStore AttributeLoad NameLoad attr Index NameLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults vararg body Return SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Slice Num decorator_list FunctionDef arguments args NameParam defaults vararg body Return SubscriptLoad Call AttributeLoad NameLoad attr NameLoad Slice Num decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam defaults NameLoad NameLoad NameLoad body If UnaryOpNot AttributeLoad NameLoad attr body Assign AttributeStore NameLoad attr Call NameLoad AttributeLoad NameLoad attr If BoolOpOr NameLoad NameLoad NameLoad body Raise NameLoad If UnaryOpNot AttributeLoad NameLoad attr body Expr Call AttributeLoad NameLoad attr If AttributeLoad NameLoad attr body Expr Call AttributeLoad AttributeLoad NameLoad attr attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Pass decorator_list FunctionDef arguments args NameParam NameParam defaults body Raise NameLoad decorator_list decorator_list
N/A N/A os.path osp N/A mako.lookup N/A mako.template N/A numpy np rllab spaces rllab.envs.base Env Step rllab.envs.box2d.box2d_viewer Box2DViewer rllab.envs.box2d.parser.xml_box2d world_from_xml find_body find_joint rllab.misc autoargs rllab.misc.overrides overrides N/A BIG 1000000.0 Box2DEnv N/A Env N/A __init__ N/A N/A self model_path frame_skip position_only obs_noise action_noise template_string template_args N/A 1 False 0.0 0.0 None None N/A N/A N/A self full_model_path model_path N/A N/A template_string None N/A N/A N/A N/A model_path endswith .mako N/A N/A N/A open model_path template_file N/A N/A template N/A N/A N/A mako template Template N/A N/A template_file read N/A template_string N/A N/A template render opts N/A N/A template_args None template_args N/A N/A N/A N/A open model_path r f N/A N/A template_string N/A N/A f read N/A N/A world extra_data N/A world_from_xml template_string N/A N/A self world world N/A N/A self extra_data extra_data N/A N/A self initial_state N/A self _state N/A N/A self viewer None N/A N/A self frame_skip frame_skip N/A N/A self timestep N/A N/A self extra_data timeStep N/A N/A self position_only position_only N/A N/A self obs_noise obs_noise N/A N/A self action_noise action_noise N/A N/A self _action_bounds None N/A N/A self _position_ids None N/A N/A self _cached_obs None N/A N/A self _cached_coms N/A N/A N/A N/A autoargs arg frame_skip type int help Number of frames to skip N/A N/A autoargs arg position_only type bool help Whether to only provide (generalized) position as the observation (i.e. no velocities etc.) N/A N/A autoargs arg obs_noise type float help Noise added to the observations (note: this makes the problem non-Markovian!) N/A N/A autoargs arg action_noise type float help Noise added to the controls, which will be proportional to the action bounds model_path N/A N/A self file_name N/A N/A N/A N/A N/A osp abspath N/A N/A osp join N/A N/A osp dirname __file__ N/A models/%s file_name N/A _set_state N/A N/A self state N/A N/A N/A splitted N/A N/A N/A N/A np array state reshape N/A -1 6 N/A N/A body body_state N/A zip N/A N/A self world bodies splitted N/A N/A N/A xpos ypos apos xvel yvel avel body_state N/A N/A body position N/A xpos ypos N/A N/A body angle apos N/A N/A body linearVelocity N/A xvel yvel N/A N/A body angularVelocity avel N/A reset N/A N/A self N/A N/A N/A N/A N/A self _set_state N/A self initial_state N/A N/A N/A self _invalidate_state_caches N/A N/A N/A self get_current_obs N/A overrides _invalidate_state_caches N/A N/A self N/A N/A N/A N/A self _cached_obs None N/A N/A self _cached_coms N/A N/A _state N/A N/A self N/A N/A N/A s N/A N/A body N/A N/A self world bodies N/A N/A N/A N/A s append N/A N/A np concatenate N/A N/A list N/A body position N/A N/A body angle N/A list N/A body linearVelocity N/A N/A body angularVelocity N/A N/A N/A np concatenate s N/A property action_space N/A N/A self N/A N/A N/A lb N/A N/A np array N/A N/A N/A control ctrllimit N/A 0 N/A control N/A N/A self extra_data controls N/A ub N/A N/A np array N/A N/A N/A control ctrllimit N/A 1 N/A control N/A N/A self extra_data controls N/A N/A N/A spaces Box lb ub N/A property overrides observation_space N/A N/A self N/A N/A N/A N/A self position_only N/A N/A d N/A len N/A N/A self _get_position_ids N/A N/A d N/A len N/A N/A self extra_data states N/A ub N/A BIG N/A N/A np ones d N/A N/A N/A spaces Box N/A ub -1 ub N/A property overrides action_bounds N/A N/A self N/A N/A N/A N/A N/A self action_space bounds N/A property forward_dynamics N/A N/A self action N/A N/A N/A N/A N/A len action N/A self action_dim N/A N/A N/A ValueError N/A incorrect action dimension: expected %d but got %d N/A N/A self action_dim N/A len action N/A N/A lb ub N/A self action_bounds N/A action N/A N/A np clip action lb ub N/A N/A ctrl act N/A zip N/A N/A self extra_data controls action N/A N/A N/A N/A ctrl typ force N/A N/A name N/A ctrl bodies N/A N/A body N/A find_body N/A self world name N/A direction N/A N/A np array N/A ctrl direction N/A direction N/A direction N/A N/A N/A np linalg norm direction N/A world_force N/A N/A body GetWorldVector N/A direction act N/A world_point N/A N/A body GetWorldPoint N/A ctrl anchor N/A N/A N/A body ApplyForce world_force world_point wake True N/A N/A N/A N/A ctrl typ torque N/A N/A N/A ctrl joint N/A joint N/A find_joint N/A self world N/A ctrl joint N/A N/A joint motorEnabled True N/A N/A act 0 N/A N/A N/A joint motorSpeed 100000.0 N/A N/A N/A joint motorSpeed -100000.0 N/A N/A joint maxMotorTorque N/A abs act N/A N/A NotImplementedError N/A N/A N/A self before_world_step action N/A N/A N/A N/A self world Step N/A N/A self extra_data timeStep N/A N/A self extra_data velocityIterations N/A N/A self extra_data positionIterations N/A compute_reward N/A N/A self action N/A N/A N/A 
        The implementation of this method should have two parts, structured
        like the following:

        <perform calculations before stepping the world>
        yield
        reward = <perform calculations after stepping the world>
        yield reward
         N/A NotImplementedError N/A step N/A N/A self action N/A N/A N/A 
        Note: override this method with great care, as it post-processes the
        observations, etc.
         N/A reward_computer N/A N/A self compute_reward action N/A action N/A N/A self _inject_action_noise action N/A _ N/A range N/A self frame_skip N/A N/A N/A N/A self forward_dynamics action N/A N/A N/A reward_computer next N/A reward N/A N/A reward_computer next N/A N/A N/A self _invalidate_state_caches N/A done N/A N/A self is_current_done N/A next_obs N/A N/A self get_current_obs N/A N/A Step observation next_obs reward reward done done N/A overrides _filter_position N/A N/A self obs N/A N/A N/A 
        Filter the observation to contain only position information.
         N/A N/A obs N/A N/A N/A self _get_position_ids N/A get_obs_noise_scale_factor N/A N/A self obs N/A N/A N/A N/A N/A np ones_like obs N/A _inject_obs_noise N/A N/A self obs N/A N/A N/A 
        Inject entry-wise noise to the observation. This should not change
        the dimension of the observation.
         N/A noise N/A N/A N/A N/A self get_obs_noise_scale_factor obs N/A self obs_noise N/A N/A N/A np random normal size N/A obs shape N/A N/A obs noise N/A get_current_reward N/A N/A self state xml_obs action next_state next_xml_obs N/A N/A N/A NotImplementedError N/A is_current_done N/A N/A self N/A N/A N/A NotImplementedError N/A _inject_action_noise N/A N/A self action N/A N/A N/A noise N/A N/A self action_noise N/A N/A N/A np random normal size N/A action shape N/A N/A lb ub N/A self action_bounds N/A noise N/A N/A 0.5 N/A ub lb noise N/A N/A action noise N/A get_current_obs N/A N/A self N/A N/A N/A 
        This method should not be overwritten.
         N/A raw_obs N/A N/A self get_raw_obs N/A noisy_obs N/A N/A self _inject_obs_noise raw_obs N/A N/A self position_only N/A N/A N/A N/A self _filter_position noisy_obs N/A noisy_obs N/A _get_position_ids N/A N/A self N/A N/A N/A N/A N/A self _position_ids None N/A N/A N/A self _position_ids N/A N/A N/A idx state N/A enumerate N/A N/A self extra_data states N/A N/A N/A N/A state typ N/A xpos ypos apos dist angle N/A N/A N/A N/A N/A self _position_ids append idx N/A N/A self _position_ids N/A get_raw_obs N/A N/A self N/A N/A N/A 
        Return the unfiltered & noiseless observation. By default, it computes
        based on the declarations in the xml file.
         N/A N/A N/A self _cached_obs None N/A N/A N/A self _cached_obs N/A obs N/A N/A state N/A N/A self extra_data states N/A N/A new_obs None N/A N/A state body N/A N/A body N/A find_body N/A self world N/A state body N/A N/A N/A state local None N/A N/A l N/A state local N/A position N/A N/A body GetWorldPoint l N/A linearVel N/A N/A body GetLinearVelocityFromLocalPoint l N/A N/A position N/A body position N/A linearVel N/A body linearVelocity N/A N/A N/A state to None N/A N/A to N/A find_body N/A self world N/A state to N/A N/A N/A state typ xpos N/A N/A new_obs N/A position N/A 0 N/A N/A N/A N/A state typ ypos N/A N/A new_obs N/A position N/A 1 N/A N/A N/A N/A state typ xvel N/A N/A new_obs N/A linearVel N/A 0 N/A N/A N/A N/A state typ yvel N/A N/A new_obs N/A linearVel N/A 1 N/A N/A N/A N/A state typ apos N/A N/A new_obs N/A body angle N/A N/A N/A N/A state typ avel N/A N/A new_obs N/A body angularVelocity N/A N/A N/A N/A state typ dist N/A N/A new_obs N/A N/A N/A np linalg norm N/A position N/A to position N/A N/A N/A N/A state typ angle N/A N/A diff N/A N/A to position position N/A abs_angle N/A N/A np arccos N/A N/A N/A diff dot N/A 0 1 N/A N/A N/A np linalg norm diff N/A new_obs N/A N/A body angle abs_angle N/A N/A NotImplementedError N/A N/A N/A state joint N/A N/A joint N/A find_joint N/A self world N/A state joint N/A N/A N/A state typ apos N/A N/A new_obs N/A joint angle N/A N/A N/A N/A state typ avel N/A N/A new_obs N/A joint speed N/A N/A NotImplementedError N/A N/A N/A state com N/A N/A com_quant N/A N/A self _compute_com_pos_vel N/A state com N/A N/A N/A state typ xpos N/A N/A new_obs N/A com_quant N/A 0 N/A N/A N/A N/A state typ ypos N/A N/A new_obs N/A com_quant N/A 1 N/A N/A N/A N/A state typ xvel N/A N/A new_obs N/A com_quant N/A 2 N/A N/A N/A N/A state typ yvel N/A N/A new_obs N/A com_quant N/A 3 N/A N/A N/A state typ N/A NotImplementedError N/A N/A NotImplementedError N/A N/A N/A state transform None N/A N/A N/A N/A state transform id N/A N/A N/A N/A N/A N/A state transform sin N/A N/A new_obs N/A N/A np sin new_obs N/A N/A N/A N/A state transform cos N/A N/A new_obs N/A N/A np cos new_obs N/A N/A NotImplementedError N/A N/A N/A obs append new_obs N/A N/A self _cached_obs N/A N/A np array obs N/A N/A self _cached_obs N/A _compute_com_pos_vel N/A N/A self N/A com N/A N/A com_key N/A N/A , join N/A sorted com N/A N/A com_key N/A self _cached_coms N/A N/A N/A N/A self _cached_coms N/A com_key N/A total_mass_quant 0 N/A total_mass 0 N/A body_name com N/A N/A body N/A find_body N/A self world body_name N/A total_mass_quant N/A N/A body mass N/A N/A np array N/A N/A list N/A body worldCenter N/A list N/A body linearVelocity N/A total_mass N/A body mass N/A com_quant N/A total_mass_quant total_mass N/A N/A N/A self _cached_coms N/A com_key com_quant N/A com_quant N/A get_com_position N/A N/A self N/A com N/A N/A N/A N/A N/A self _compute_com_pos_vel com N/A 2 N/A get_com_velocity N/A N/A self N/A com N/A N/A N/A N/A N/A self _compute_com_pos_vel com N/A 2 N/A render N/A N/A self states actions pause N/A None None False N/A N/A N/A N/A self viewer N/A N/A N/A self viewer N/A Box2DViewer N/A self world N/A N/A states actions pause N/A N/A NotImplementedError N/A N/A N/A self viewer N/A N/A N/A N/A self start_viewer N/A N/A self viewer N/A N/A N/A N/A N/A self viewer loop_once N/A overrides before_world_step N/A N/A self action N/A N/A N/A N/A action_from_keys N/A N/A self keys N/A N/A N/A NotImplementedError N/A N/A