def ingest_params2(self, env_params):
    if ('target error' not in env_params):
        env_params['target error'] = 0.1
    if ('joints to move' not in env_params):
        env_params['joints to move'] = ['HeadYaw', 'HeadPitch', 'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll', 'RWristYaw', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'RAnkleRoll', 'LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', 'LWristYaw', 'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'LAnklePitch', 'LAnkleRoll']
    if ('target angles' not in env_params):
        env_params['target angles'] = [0.0, 0.153, 0.66, 0.914, 0.994, 0.721, 0.08432, (- 0.512), (- 0.04), (- 0.8299), 0.317, 0.288, (- 0.268), 0.99, 0.175, (- 1.234), (- 0.819), (- 1.286), (- 0.58287), 0.118, 0.2899, (- 0.09), 0.6, (- 0.046)]
    return env_params
def ingest_params2(self, env_params):
    if ('target error' not in env_params):
        env_params['target error'] = 0.1
    if ('joints to move' not in env_params):
        env_params['joints to move'] = ['HeadYaw', 'HeadPitch', 'RShoulderPitch', 'RShoulderRoll', 'RElbowYaw', 'RElbowRoll', 'RWristYaw', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'RAnkleRoll', 'LShoulderPitch', 'LShoulderRoll', 'LElbowYaw', 'LElbowRoll', 'LWristYaw', 'LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'LAnklePitch', 'LAnkleRoll']
    if ('target angles' not in env_params):
        env_params['target angles'] = [0.0, 0.153, 0.66, 0.914, 0.994, 0.721, 0.08432, (- 0.512), (- 0.04), (- 0.8299), 0.317, 0.288, (- 0.268), 0.99, 0.175, (- 1.234), (- 0.819), (- 1.286), (- 0.58287), 0.118, 0.2899, (- 0.09), 0.6, (- 0.046)]
    return env_params