local_dm_control_suite/manipulator.py [126:160]:
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  environment_kwargs = environment_kwargs or {}
  return control.Environment(
      physics, task, control_timestep=_CONTROL_TIMESTEP, time_limit=time_limit,
      **environment_kwargs)


class Physics(mujoco.Physics):
  """Physics with additional features for the Planar Manipulator domain."""

  def bounded_joint_pos(self, joint_names):
    """Returns joint positions as (sin, cos) values."""
    joint_pos = self.named.data.qpos[joint_names]
    return np.vstack([np.sin(joint_pos), np.cos(joint_pos)]).T

  def joint_vel(self, joint_names):
    """Returns joint velocities."""
    return self.named.data.qvel[joint_names]

  def body_2d_pose(self, body_names, orientation=True):
    """Returns positions and/or orientations of bodies."""
    if not isinstance(body_names, str):
      body_names = np.array(body_names).reshape(-1, 1)  # Broadcast indices.
    pos = self.named.data.xpos[body_names, ['x', 'z']]
    if orientation:
      ori = self.named.data.xquat[body_names, ['qw', 'qy']]
      return np.hstack([pos, ori])
    else:
      return pos

  def touch(self):
    return np.log1p(self.data.sensordata)

  def site_distance(self, site1, site2):
    site1_to_site2 = np.diff(self.named.data.site_xpos[[site2, site1]], axis=0)
    return np.linalg.norm(site1_to_site2)
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local_dm_control_suite/stacker.py [83:117]:
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  environment_kwargs = environment_kwargs or {}
  return control.Environment(
      physics, task, control_timestep=_CONTROL_TIMESTEP, time_limit=time_limit,
      **environment_kwargs)


class Physics(mujoco.Physics):
  """Physics with additional features for the Planar Manipulator domain."""

  def bounded_joint_pos(self, joint_names):
    """Returns joint positions as (sin, cos) values."""
    joint_pos = self.named.data.qpos[joint_names]
    return np.vstack([np.sin(joint_pos), np.cos(joint_pos)]).T

  def joint_vel(self, joint_names):
    """Returns joint velocities."""
    return self.named.data.qvel[joint_names]

  def body_2d_pose(self, body_names, orientation=True):
    """Returns positions and/or orientations of bodies."""
    if not isinstance(body_names, str):
      body_names = np.array(body_names).reshape(-1, 1)  # Broadcast indices.
    pos = self.named.data.xpos[body_names, ['x', 'z']]
    if orientation:
      ori = self.named.data.xquat[body_names, ['qw', 'qy']]
      return np.hstack([pos, ori])
    else:
      return pos

  def touch(self):
    return np.log1p(self.data.sensordata)

  def site_distance(self, site1, site2):
    site1_to_site2 = np.diff(self.named.data.site_xpos[[site2, site1]], axis=0)
    return np.linalg.norm(site1_to_site2)
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