gym/envs/mujoco/inverted_pendulum.py [22:50]:
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            self,
            "inverted_pendulum.xml",
            2,
            observation_space=observation_space,
            **kwargs
        )

    def step(self, a):
        reward = 1.0
        self.do_simulation(a, self.frame_skip)

        ob = self._get_obs()
        terminated = bool(not np.isfinite(ob).all() or (np.abs(ob[1]) > 0.2))

        if self.render_mode == "human":
            self.render()
        return ob, reward, terminated, False, {}

    def reset_model(self):
        qpos = self.init_qpos + self.np_random.uniform(
            size=self.model.nq, low=-0.01, high=0.01
        )
        qvel = self.init_qvel + self.np_random.uniform(
            size=self.model.nv, low=-0.01, high=0.01
        )
        self.set_state(qpos, qvel)
        return self._get_obs()

    def _get_obs(self):
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gym/envs/mujoco/inverted_pendulum_v4.py [99:125]:
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            self,
            "inverted_pendulum.xml",
            2,
            observation_space=observation_space,
            **kwargs
        )

    def step(self, a):
        reward = 1.0
        self.do_simulation(a, self.frame_skip)
        ob = self._get_obs()
        terminated = bool(not np.isfinite(ob).all() or (np.abs(ob[1]) > 0.2))
        if self.render_mode == "human":
            self.render()
        return ob, reward, terminated, False, {}

    def reset_model(self):
        qpos = self.init_qpos + self.np_random.uniform(
            size=self.model.nq, low=-0.01, high=0.01
        )
        qvel = self.init_qvel + self.np_random.uniform(
            size=self.model.nv, low=-0.01, high=0.01
        )
        self.set_state(qpos, qvel)
        return self._get_obs()

    def _get_obs(self):
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