Module Import alias identifier ImportFrom alias ImportFrom alias ClassDef bases AttributeLoad NameLoad attr AttributeLoad NameLoad attr body FunctionDef arguments args NameParam defaults body Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Str Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Expr Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr Str Index Num Expr Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr Assign NameStore SubscriptLoad Call AttributeLoad NameLoad attr Str Index Num Assign NameStore BinOpDiv BinOpSub NameLoad NameLoad AttributeLoad NameLoad attr Assign NameStore BinOpMult Num Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr Assign NameStore BinOpMult BinOpMult Num Num Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Num Num Assign NameStore Num Assign NameStore BinOpAdd BinOpSub BinOpSub NameLoad NameLoad NameLoad NameLoad Assign NameStore AttributeLoad NameLoad attr Assign NameStore BoolOpAnd Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr CompareGtE SubscriptLoad NameLoad Index Num Num CompareLtE SubscriptLoad NameLoad Index Num Num Assign NameStore UnaryOpNot NameLoad Assign NameStore Call AttributeLoad NameLoad attr Return TupleLoad NameLoad NameLoad NameLoad Call NameLoad keyword NameLoad keyword UnaryOpUSub NameLoad keyword UnaryOpUSub NameLoad keyword NameLoad decorator_list FunctionDef arguments args NameParam defaults body Return Call AttributeLoad NameLoad attr ListLoad SubscriptLoad AttributeLoad AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr attr Slice Num AttributeLoad AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr attr AttributeLoad Call AttributeLoad NameLoad attr AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Num Num attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr BinOpAdd AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr keyword TupleLoad AttributeLoad AttributeLoad NameLoad attr attr Num keyword Num keyword Num Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr BinOpAdd AttributeLoad NameLoad attr BinOpMult Call AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr Num Num Expr Call AttributeLoad NameLoad attr Return Call AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore AttributeLoad AttributeLoad NameLoad attr attr attr BinOpMult AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Num decorator_list decorator_list
N/A N/A numpy np gym utils gym.envs.mujoco mujoco_env AntEnv N/A N/A mujoco_env MujocoEnv N/A utils EzPickle N/A __init__ N/A N/A self N/A N/A N/A N/A N/A N/A mujoco_env MujocoEnv __init__ self ant.xml 5 N/A N/A N/A N/A utils EzPickle __init__ self N/A N/A N/A self finalize N/A _step N/A N/A self a N/A N/A N/A xposbefore N/A N/A N/A self get_body_com torso N/A 0 N/A N/A N/A self do_simulation a N/A self frame_skip N/A xposafter N/A N/A N/A self get_body_com torso N/A 0 N/A forward_reward N/A N/A xposafter xposbefore N/A self dt N/A ctrl_cost N/A 0.5 N/A N/A N/A N/A np square a sum N/A contact_cost N/A N/A 0.5 0.001 N/A N/A np sum N/A N/A np square N/A N/A np clip N/A N/A N/A self model data cfrc_ext -1 1 N/A survive_reward 1.0 N/A reward N/A N/A N/A forward_reward ctrl_cost contact_cost survive_reward N/A state N/A self _state N/A notdone N/A N/A N/A N/A N/A np isfinite state all N/A N/A state N/A 2 0.2 N/A N/A state N/A 2 1.0 N/A done N/A notdone N/A ob N/A N/A self _get_obs N/A N/A ob reward done N/A dict reward_forward forward_reward reward_ctrl N/A ctrl_cost reward_contact N/A contact_cost reward_survive survive_reward N/A _get_obs N/A N/A self N/A N/A N/A N/A N/A np concatenate N/A N/A N/A N/A N/A N/A self model data qpos flat N/A 2 N/A N/A N/A N/A self model data qvel flat N/A N/A N/A np clip N/A N/A N/A self model data cfrc_ext -1 1 flat N/A _reset N/A N/A self N/A N/A N/A N/A N/A N/A self model data qpos N/A N/A self init_qpos N/A N/A N/A np random uniform size N/A N/A N/A self model nq 1 low -0.1 high 0.1 N/A N/A N/A N/A self model data qvel N/A N/A self init_qvel N/A N/A N/A N/A np random randn N/A N/A self model nv 1 0.1 N/A N/A N/A self reset_viewer_if_necessary N/A N/A N/A self _get_obs N/A viewer_setup N/A N/A self N/A N/A N/A N/A N/A N/A self viewer cam distance N/A N/A N/A N/A self model stat extent 0.5 N/A N/A