def __init__(self, env_params):
    super(Pose_Assumption, self).__init__(env_params)
    env_params = self.ingest_params2(env_params)
    self.target = env_params['target error']
    self.joints = env_params['joints to move']
    self.target_angles = env_params['target angles']
    self.default_pose = 'LyingBack'
    self.penalty = 0
    self.error = float('inf')
    self.assume_pose(self.default_pose)
    self.set_stiffness()
def __init__(self, env_params):
    super(Pose_Assumption, self).__init__(env_params)
    env_params = self.ingest_params2(env_params)
    self.target = env_params['target error']
    self.joints = env_params['joints to move']
    self.target_angles = env_params['target angles']
    self.default_pose = 'LyingBack'
    self.penalty = 0
    self.error = float('inf')
    self.assume_pose(self.default_pose)
    self.set_stiffness()