{"action":"created","comment":{"url":"https://api.github.com/repos/ryanjulian/rllab/pulls/comments/189101167","pull_request_review_id":121216445,"id":189101167,"diff_hunk":"@@ -0,0 +1,499 @@\n+\"\"\"\n+Gazebo environment for the Sawyer robot\n+Every specific sawyer task environment should inherit it.\n+\"\"\"\n+\n+from rllab.envs.base import Step\n+from .gazebo_env import GazeboEnv\n+from rllab.spaces import Box\n+import numpy as np\n+import rospy\n+import intera_interface\n+import copy\n+import rospkg\n+from rllab.core.serializable import Serializable\n+import os.path as osp\n+import threading\n+import time\n+from functools import wraps\n+\n+from intera_core_msgs.msg import JointLimits\n+\n+from gazebo_msgs.msg import (\n+    ModelStates, )\n+\n+import std_srvs.srv\n+\n+from geometry_msgs.msg import (Pose, Point)\n+\n+\n+class ControlModeUnknownErr(Exception):\n+    def __init__(self, message):\n+        self.message = message\n+\n+\n+def goal_distance(goal_a, goal_b):\n+    \"\"\"\n+    :param goal_a:\n+    :param goal_b:\n+    :return: distance between goal_a and goal_b\n+    \"\"\"\n+    assert goal_a.shape == goal_b.shape\n+    return np.linalg.norm(goal_a - goal_b, axis=-1)\n+\n+\n+def rate_limited(max_per_second: int):\n+    \"\"\"Rate-limits the decorated function locally, for one process.\"\"\"\n+    lock = threading.Lock()\n+    min_interval = 1.0 / max_per_second\n+\n+    def decorate(func):\n+        last_time_called = time.perf_counter()\n+\n+        @wraps(func)\n+        def rate_limited_function(*args, **kwargs):\n+            lock.acquire()\n+            nonlocal last_time_called\n+            try:\n+                elapsed = time.perf_counter() - last_time_called\n+                left_to_wait = min_interval - elapsed\n+                if left_to_wait > 0:\n+                    time.sleep(left_to_wait)\n+\n+                return func(*args, **kwargs)\n+            finally:\n+                last_time_called = time.perf_counter()\n+                lock.release()\n+\n+        return rate_limited_function\n+\n+    return decorate\n+\n+\n+class GazeboSawyerEnv(GazeboEnv, Serializable):\n+    \"\"\"\n+    Gazebo Sawyer Env\n+    \"\"\"\n+\n+    def __init__(self,\n+                 has_object,\n+                 distance_threshold,\n+                 initial_qpos,\n+                 reward_type,\n+                 target_in_the_air,\n+                 limb='right',\n+                 end_point=\"right_gripper_tip\",\n+                 target_range=0.15,\n+                 obj_range=0.15,\n+                 control_mode='position'):\n+        \"\"\"\n+        Input\n+        -----\n+        has_object: if there is object in this experiment\n+        distance_threshold: this is used for sparse reward computation\n+        initial_qpos: dict, joint's positions and object's positions\n+        reward_type: 'sparse' of 'dense'\n+        target_in_the_ari: set to see if the target can be in the air\n+        limb: the name of the limb\n+        end_point: the name of the end_point\n+        target_range: used to sample the new target\n+        obj_range: used to sample the new position for object\n+        control_mode: have 3 different control modes: 'position', 'velocity', 'effort'\n+        \"\"\"\n+        # run the superclass initialize function first\n+        Serializable.quick_init(self, locals())\n+\n+        rospy.init_node(\"GazeboSawyerPosControlEnv\", anonymous=True)\n+        # Verify robot is enabled\n+        print(\"Getting robot state...\")\n+        self._rs = intera_interface.RobotEnable(intera_interface.CHECK_VERSION)\n+        self._init_state = self._rs.state().enabled\n+        print(\"Enabling robot...\")\n+        self._rs.enable()\n+\n+        def clean_shutdown():\n+            if self._control_mode != 'position':\n+                rospy.wait_for_service('/gazebo/unpause_physics')\n+                try:\n+                    unpause = rospy.ServiceProxy('/gazebo/unpause_physics',\n+                                                 std_srvs.srv.Empty)\n+                    unpause()\n+                except rospy.ServiceException as e:\n+                    print('/gazebo/unpause_physics service call failed')\n+\n+            print(\"Exiting...\")\n+            if self._rs.state().enabled:\n+                print(\"Disabling robot...\")\n+                self._rs.disable()\n+            # delete model\n+            print(\"Delete gazebo models...\")\n+            GazeboEnv.delete_gazebo_model(model_name=\"cafe_table\")\n+            GazeboEnv.delete_gazebo_model(model_name=\"block\")\n+            GazeboEnv.delete_gazebo_model(model_name=\"target\")\n+\n+            if self._control_mode != 'position':\n+                rospy.wait_for_service('/gazebo/pause_physics')\n+                try:\n+                    pause = rospy.ServiceProxy('/gazebo/pause_physics',\n+                                               std_srvs.srv.Empty)\n+                    pause()\n+                except rospy.ServiceException as e:\n+                    print(\"/gazebo/pause_physics service call failed\")\n+\n+        rospy.on_shutdown(clean_shutdown)\n+\n+        self.has_object = has_object\n+\n+        self.distance_threshold = distance_threshold\n+        self.reward_type = reward_type\n+        self._tip_name = end_point\n+        self._limb_name = limb\n+        self._limb = intera_interface.Limb(limb)\n+        self._gripper = intera_interface.Gripper()\n+        self._control_mode = control_mode\n+        # get the joint limits\n+        self._joint_limits = rospy.wait_for_message(\n+            '/robot/joint_limits', JointLimits, timeout=5)\n+        # set the action space\n+        self._set_action_space()\n+        self.target_range = target_range\n+        self.target_in_the_air = target_in_the_air\n+        self.obj_range = obj_range\n+        self.start_angles = {\n+            'right_j0': initial_qpos['right_j0'],\n+            'right_j1': initial_qpos['right_j1'],\n+            'right_j2': initial_qpos['right_j2'],\n+            'right_j3': initial_qpos['right_j3'],\n+            'right_j4': initial_qpos['right_j4'],\n+            'right_j5': initial_qpos['right_j5'],\n+            'right_j6': initial_qpos['right_j6']\n+        }\n+        self.model_states = rospy.wait_for_message(\n+            \"/gazebo/model_states\", ModelStates, timeout=5)\n+        rospy.Subscriber('/gazebo/model_states', ModelStates,\n+                         self.update_model_states)\n+        GazeboEnv.__init__(self, initial_qpos=initial_qpos)\n+        self._observation_space = Box(\n+            -np.inf, np.inf, shape=self._get_obs()['observation'].shape)\n+\n+    def _set_action_space(self):","path":"contrib/gazebo/gazebo_sawyer_env.py","position":179,"original_position":179,"commit_id":"a7bccd5d272e347e299a71dff8e23860e861ecdf","original_commit_id":"a7bccd5d272e347e299a71dff8e23860e861ecdf","user":{"login":"ryanjulian","id":1376219,"avatar_url":"https://avatars3.githubusercontent.com/u/1376219?v=4","gravatar_id":"","url":"https://api.github.com/users/ryanjulian","html_url":"https://github.com/ryanjulian","followers_url":"https://api.github.com/users/ryanjulian/followers","following_url":"https://api.github.com/users/ryanjulian/following{/other_user}","gists_url":"https://api.github.com/users/ryanjulian/gists{/gist_id}","starred_url":"https://api.github.com/users/ryanjulian/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryanjulian/subscriptions","organizations_url":"https://api.github.com/users/ryanjulian/orgs","repos_url":"https://api.github.com/users/ryanjulian/repos","events_url":"https://api.github.com/users/ryanjulian/events{/privacy}","received_events_url":"https://api.github.com/users/ryanjulian/received_events","type":"User","site_admin":false},"body":"Why not just put this code in action_space() rather than storing it?","created_at":"2018-05-17T21:06:07Z","updated_at":"2018-05-17T21:06:07Z","html_url":"https://github.com/ryanjulian/rllab/pull/49#discussion_r189101167","pull_request_url":"https://api.github.com/repos/ryanjulian/rllab/pulls/49","author_association":"OWNER","_links":{"self":{"href":"https://api.github.com/repos/ryanjulian/rllab/pulls/comments/189101167"},"html":{"href":"https://github.com/ryanjulian/rllab/pull/49#discussion_r189101167"},"pull_request":{"href":"https://api.github.com/repos/ryanjulian/rllab/pulls/49"}},"in_reply_to_id":186799681},"pull_request":{"url":"https://api.github.com/repos/ryanjulian/rllab/pulls/49","id":180029805,"html_url":"https://github.com/ryanjulian/rllab/pull/49","diff_url":"https://github.com/ryanjulian/rllab/pull/49.diff","patch_url":"https://github.com/ryanjulian/rllab/pull/49.patch","issue_url":"https://api.github.com/repos/ryanjulian/rllab/issues/49","number":49,"state":"open","locked":false,"title":"add gazebo sawyer","user":{"login":"hjzh4","id":24218268,"avatar_url":"https://avatars3.githubusercontent.com/u/24218268?v=4","gravatar_id":"","url":"https://api.github.com/users/hjzh4","html_url":"https://github.com/hjzh4","followers_url":"https://api.github.com/users/hjzh4/followers","following_url":"https://api.github.com/users/hjzh4/following{/other_user}","gists_url":"https://api.github.com/users/hjzh4/gists{/gist_id}","starred_url":"https://api.github.com/users/hjzh4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hjzh4/subscriptions","organizations_url":"https://api.github.com/users/hjzh4/orgs","repos_url":"https://api.github.com/users/hjzh4/repos","events_url":"https://api.github.com/users/hjzh4/events{/privacy}","received_events_url":"https://api.github.com/users/hjzh4/received_events","type":"User","site_admin":false},"body":"","created_at":"2018-04-06T19:06:34Z","updated_at":"2018-05-17T21:06:07Z","closed_at":null,"merged_at":null,"merge_commit_sha":"531ab2de6ec67753bc7cd6291c4b216a080e0fce","assignee":{"login":"hjzh4","id":24218268,"avatar_url":"https://avatars3.githubusercontent.com/u/24218268?v=4","gravatar_id":"","url":"https://api.github.com/users/hjzh4","html_url":"https://github.com/hjzh4","followers_url":"https://api.github.com/users/hjzh4/followers","following_url":"https://api.github.com/users/hjzh4/following{/other_user}","gists_url":"https://api.github.com/users/hjzh4/gists{/gist_id}","starred_url":"https://api.github.com/users/hjzh4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hjzh4/subscriptions","organizations_url":"https://api.github.com/users/hjzh4/orgs","repos_url":"https://api.github.com/users/hjzh4/repos","events_url":"https://api.github.com/users/hjzh4/events{/privacy}","received_events_url":"https://api.github.com/users/hjzh4/received_events","type":"User","site_admin":false},"assignees":[{"login":"hjzh4","id":24218268,"avatar_url":"https://avatars3.githubusercontent.com/u/24218268?v=4","gravatar_id":"","url":"https://api.github.com/users/hjzh4","html_url":"https://github.com/hjzh4","followers_url":"https://api.github.com/users/hjzh4/followers","following_url":"https://api.github.com/users/hjzh4/following{/other_user}","gists_url":"https://api.github.com/users/hjzh4/gists{/gist_id}","starred_url":"https://api.github.com/users/hjzh4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hjzh4/subscriptions","organizations_url":"https://api.github.com/users/hjzh4/orgs","repos_url":"https://api.github.com/users/hjzh4/repos","events_url":"https://api.github.com/users/hjzh4/events{/privacy}","received_events_url":"https://api.github.com/users/hjzh4/received_events","type":"User","site_admin":false}],"requested_reviewers":[{"login":"zhanpenghe","id":31218416,"avatar_url":"https://avatars1.githubusercontent.com/u/31218416?v=4","gravatar_id":"","url":"https://api.github.com/users/zhanpenghe","html_url":"https://github.com/zhanpenghe","followers_url":"https://api.github.com/users/zhanpenghe/followers","following_url":"https://api.github.com/users/zhanpenghe/following{/other_user}","gists_url":"https://api.github.com/users/zhanpenghe/gists{/gist_id}","starred_url":"https://api.github.com/users/zhanpenghe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/zhanpenghe/subscriptions","organizations_url":"https://api.github.com/users/zhanpenghe/orgs","repos_url":"https://api.github.com/users/zhanpenghe/repos","events_url":"https://api.github.com/users/zhanpenghe/events{/privacy}","received_events_url":"https://api.github.com/users/zhanpenghe/received_events","type":"User","site_admin":false}],"requested_teams":[],"labels":[],"milestone":{"url":"https://api.github.com/repos/ryanjulian/rllab/milestones/1","html_url":"https://github.com/ryanjulian/rllab/milestone/1","labels_url":"https://api.github.com/repos/ryanjulian/rllab/milestones/1/labels","id":3350138,"number":1,"title":"Week of May 14","description":"This week's theme: housecleaning","creator":{"login":"ryanjulian","id":1376219,"avatar_url":"https://avatars3.githubusercontent.com/u/1376219?v=4","gravatar_id":"","url":"https://api.github.com/users/ryanjulian","html_url":"https://github.com/ryanjulian","followers_url":"https://api.github.com/users/ryanjulian/followers","following_url":"https://api.github.com/users/ryanjulian/following{/other_user}","gists_url":"https://api.github.com/users/ryanjulian/gists{/gist_id}","starred_url":"https://api.github.com/users/ryanjulian/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryanjulian/subscriptions","organizations_url":"https://api.github.com/users/ryanjulian/orgs","repos_url":"https://api.github.com/users/ryanjulian/repos","events_url":"https://api.github.com/users/ryanjulian/events{/privacy}","received_events_url":"https://api.github.com/users/ryanjulian/received_events","type":"User","site_admin":false},"open_issues":17,"closed_issues":5,"state":"open","created_at":"2018-05-15T22:25:43Z","updated_at":"2018-05-17T18:49:50Z","due_on":"2018-05-21T07:00:00Z","closed_at":null},"commits_url":"https://api.github.com/repos/ryanjulian/rllab/pulls/49/commits","review_comments_url":"https://api.github.com/repos/ryanjulian/rllab/pulls/49/comments","review_comment_url":"https://api.github.com/repos/ryanjulian/rllab/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ryanjulian/rllab/issues/49/comments","statuses_url":"https://api.github.com/repos/ryanjulian/rllab/statuses/a7bccd5d272e347e299a71dff8e23860e861ecdf","head":{"label":"hjzh4:gazebo_sawyer","ref":"gazebo_sawyer","sha":"a7bccd5d272e347e299a71dff8e23860e861ecdf","user":{"login":"hjzh4","id":24218268,"avatar_url":"https://avatars3.githubusercontent.com/u/24218268?v=4","gravatar_id":"","url":"https://api.github.com/users/hjzh4","html_url":"https://github.com/hjzh4","followers_url":"https://api.github.com/users/hjzh4/followers","following_url":"https://api.github.com/users/hjzh4/following{/other_user}","gists_url":"https://api.github.com/users/hjzh4/gists{/gist_id}","starred_url":"https://api.github.com/users/hjzh4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hjzh4/subscriptions","organizations_url":"https://api.github.com/users/hjzh4/orgs","repos_url":"https://api.github.com/users/hjzh4/repos","events_url":"https://api.github.com/users/hjzh4/events{/privacy}","received_events_url":"https://api.github.com/users/hjzh4/received_events","type":"User","site_admin":false},"repo":{"id":128438929,"name":"rllab","full_name":"hjzh4/rllab","owner":{"login":"hjzh4","id":24218268,"avatar_url":"https://avatars3.githubusercontent.com/u/24218268?v=4","gravatar_id":"","url":"https://api.github.com/users/hjzh4","html_url":"https://github.com/hjzh4","followers_url":"https://api.github.com/users/hjzh4/followers","following_url":"https://api.github.com/users/hjzh4/following{/other_user}","gists_url":"https://api.github.com/users/hjzh4/gists{/gist_id}","starred_url":"https://api.github.com/users/hjzh4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hjzh4/subscriptions","organizations_url":"https://api.github.com/users/hjzh4/orgs","repos_url":"https://api.github.com/users/hjzh4/repos","events_url":"https://api.github.com/users/hjzh4/events{/privacy}","received_events_url":"https://api.github.com/users/hjzh4/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/hjzh4/rllab","description":"rllab is a framework for developing and evaluating reinforcement learning algorithms, fully compatible with OpenAI Gym.","fork":true,"url":"https://api.github.com/repos/hjzh4/rllab","forks_url":"https://api.github.com/repos/hjzh4/rllab/forks","keys_url":"https://api.github.com/repos/hjzh4/rllab/keys{/key_id}","collaborators_url":"https://api.github.com/repos/hjzh4/rllab/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/hjzh4/rllab/teams","hooks_url":"https://api.github.com/repos/hjzh4/rllab/hooks","issue_events_url":"https://api.github.com/repos/hjzh4/rllab/issues/events{/number}","events_url":"https://api.github.com/repos/hjzh4/rllab/events","assignees_url":"https://api.github.com/repos/hjzh4/rllab/assignees{/user}","branches_url":"https://api.github.com/repos/hjzh4/rllab/branches{/branch}","tags_url":"https://api.github.com/repos/hjzh4/rllab/tags","blobs_url":"https://api.github.com/repos/hjzh4/rllab/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/hjzh4/rllab/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/hjzh4/rllab/git/refs{/sha}","trees_url":"https://api.github.com/repos/hjzh4/rllab/git/trees{/sha}","statuses_url":"https://api.github.com/repos/hjzh4/rllab/statuses/{sha}","languages_url":"https://api.github.com/repos/hjzh4/rllab/languages","stargazers_url":"https://api.github.com/repos/hjzh4/rllab/stargazers","contributors_url":"https://api.github.com/repos/hjzh4/rllab/contributors","subscribers_url":"https://api.github.com/repos/hjzh4/rllab/subscribers","subscription_url":"https://api.github.com/repos/hjzh4/rllab/subscription","commits_url":"https://api.github.com/repos/hjzh4/rllab/commits{/sha}","git_commits_url":"https://api.github.com/repos/hjzh4/rllab/git/commits{/sha}","comments_url":"https://api.github.com/repos/hjzh4/rllab/comments{/number}","issue_comment_url":"https://api.github.com/repos/hjzh4/rllab/issues/comments{/number}","contents_url":"https://api.github.com/repos/hjzh4/rllab/contents/{+path}","compare_url":"https://api.github.com/repos/hjzh4/rllab/compare/{base}...{head}","merges_url":"https://api.github.com/repos/hjzh4/rllab/merges","archive_url":"https://api.github.com/repos/hjzh4/rllab/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/hjzh4/rllab/downloads","issues_url":"https://api.github.com/repos/hjzh4/rllab/issues{/number}","pulls_url":"https://api.github.com/repos/hjzh4/rllab/pulls{/number}","milestones_url":"https://api.github.com/repos/hjzh4/rllab/milestones{/number}","notifications_url":"https://api.github.com/repos/hjzh4/rllab/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/hjzh4/rllab/labels{/name}","releases_url":"https://api.github.com/repos/hjzh4/rllab/releases{/id}","deployments_url":"https://api.github.com/repos/hjzh4/rllab/deployments","created_at":"2018-04-06T18:38:16Z","updated_at":"2018-04-06T18:38:19Z","pushed_at":"2018-04-30T04:45:22Z","git_url":"git://github.com/hjzh4/rllab.git","ssh_url":"git@github.com:hjzh4/rllab.git","clone_url":"https://github.com/hjzh4/rllab.git","svn_url":"https://github.com/hjzh4/rllab","homepage":"","size":3517,"stargazers_count":0,"watchers_count":0,"language":"Python","has_issues":false,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":0,"mirror_url":null,"archived":false,"open_issues_count":0,"license":{"key":"other","name":"Other","spdx_id":null,"url":null},"forks":0,"open_issues":0,"watchers":0,"default_branch":"integration"}},"base":{"label":"ryanjulian:integration","ref":"integration","sha":"0b2776b93f62b87c923e9e86b11aede0667aac09","user":{"login":"ryanjulian","id":1376219,"avatar_url":"https://avatars3.githubusercontent.com/u/1376219?v=4","gravatar_id":"","url":"https://api.github.com/users/ryanjulian","html_url":"https://github.com/ryanjulian","followers_url":"https://api.github.com/users/ryanjulian/followers","following_url":"https://api.github.com/users/ryanjulian/following{/other_user}","gists_url":"https://api.github.com/users/ryanjulian/gists{/gist_id}","starred_url":"https://api.github.com/users/ryanjulian/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryanjulian/subscriptions","organizations_url":"https://api.github.com/users/ryanjulian/orgs","repos_url":"https://api.github.com/users/ryanjulian/repos","events_url":"https://api.github.com/users/ryanjulian/events{/privacy}","received_events_url":"https://api.github.com/users/ryanjulian/received_events","type":"User","site_admin":false},"repo":{"id":107815432,"name":"rllab","full_name":"ryanjulian/rllab","owner":{"login":"ryanjulian","id":1376219,"avatar_url":"https://avatars3.githubusercontent.com/u/1376219?v=4","gravatar_id":"","url":"https://api.github.com/users/ryanjulian","html_url":"https://github.com/ryanjulian","followers_url":"https://api.github.com/users/ryanjulian/followers","following_url":"https://api.github.com/users/ryanjulian/following{/other_user}","gists_url":"https://api.github.com/users/ryanjulian/gists{/gist_id}","starred_url":"https://api.github.com/users/ryanjulian/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryanjulian/subscriptions","organizations_url":"https://api.github.com/users/ryanjulian/orgs","repos_url":"https://api.github.com/users/ryanjulian/repos","events_url":"https://api.github.com/users/ryanjulian/events{/privacy}","received_events_url":"https://api.github.com/users/ryanjulian/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/ryanjulian/rllab","description":"rllab is a framework for developing and evaluating reinforcement learning algorithms, fully compatible with OpenAI Gym.","fork":true,"url":"https://api.github.com/repos/ryanjulian/rllab","forks_url":"https://api.github.com/repos/ryanjulian/rllab/forks","keys_url":"https://api.github.com/repos/ryanjulian/rllab/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ryanjulian/rllab/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ryanjulian/rllab/teams","hooks_url":"https://api.github.com/repos/ryanjulian/rllab/hooks","issue_events_url":"https://api.github.com/repos/ryanjulian/rllab/issues/events{/number}","events_url":"https://api.github.com/repos/ryanjulian/rllab/events","assignees_url":"https://api.github.com/repos/ryanjulian/rllab/assignees{/user}","branches_url":"https://api.github.com/repos/ryanjulian/rllab/branches{/branch}","tags_url":"https://api.github.com/repos/ryanjulian/rllab/tags","blobs_url":"https://api.github.com/repos/ryanjulian/rllab/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ryanjulian/rllab/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ryanjulian/rllab/git/refs{/sha}","trees_url":"https://api.github.com/repos/ryanjulian/rllab/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ryanjulian/rllab/statuses/{sha}","languages_url":"https://api.github.com/repos/ryanjulian/rllab/languages","stargazers_url":"https://api.github.com/repos/ryanjulian/rllab/stargazers","contributors_url":"https://api.github.com/repos/ryanjulian/rllab/contributors","subscribers_url":"https://api.github.com/repos/ryanjulian/rllab/subscribers","subscription_url":"https://api.github.com/repos/ryanjulian/rllab/subscription","commits_url":"https://api.github.com/repos/ryanjulian/rllab/commits{/sha}","git_commits_url":"https://api.github.com/repos/ryanjulian/rllab/git/commits{/sha}","comments_url":"https://api.github.com/repos/ryanjulian/rllab/comments{/number}","issue_comment_url":"https://api.github.com/repos/ryanjulian/rllab/issues/comments{/number}","contents_url":"https://api.github.com/repos/ryanjulian/rllab/contents/{+path}","compare_url":"https://api.github.com/repos/ryanjulian/rllab/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ryanjulian/rllab/merges","archive_url":"https://api.github.com/repos/ryanjulian/rllab/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ryanjulian/rllab/downloads","issues_url":"https://api.github.com/repos/ryanjulian/rllab/issues{/number}","pulls_url":"https://api.github.com/repos/ryanjulian/rllab/pulls{/number}","milestones_url":"https://api.github.com/repos/ryanjulian/rllab/milestones{/number}","notifications_url":"https://api.github.com/repos/ryanjulian/rllab/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ryanjulian/rllab/labels{/name}","releases_url":"https://api.github.com/repos/ryanjulian/rllab/releases{/id}","deployments_url":"https://api.github.com/repos/ryanjulian/rllab/deployments","created_at":"2017-10-21T20:58:57Z","updated_at":"2018-05-16T06:28:03Z","pushed_at":"2018-05-17T18:18:51Z","git_url":"git://github.com/ryanjulian/rllab.git","ssh_url":"git@github.com:ryanjulian/rllab.git","clone_url":"https://github.com/ryanjulian/rllab.git","svn_url":"https://github.com/ryanjulian/rllab","homepage":"","size":3553,"stargazers_count":1,"watchers_count":1,"language":"Python","has_issues":true,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":22,"mirror_url":null,"archived":false,"open_issues_count":35,"license":{"key":"other","name":"Other","spdx_id":null,"url":null},"forks":22,"open_issues":35,"watchers":1,"default_branch":"integration"}},"_links":{"self":{"href":"https://api.github.com/repos/ryanjulian/rllab/pulls/49"},"html":{"href":"https://github.com/ryanjulian/rllab/pull/49"},"issue":{"href":"https://api.github.com/repos/ryanjulian/rllab/issues/49"},"comments":{"href":"https://api.github.com/repos/ryanjulian/rllab/issues/49/comments"},"review_comments":{"href":"https://api.github.com/repos/ryanjulian/rllab/pulls/49/comments"},"review_comment":{"href":"https://api.github.com/repos/ryanjulian/rllab/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/ryanjulian/rllab/pulls/49/commits"},"statuses":{"href":"https://api.github.com/repos/ryanjulian/rllab/statuses/a7bccd5d272e347e299a71dff8e23860e861ecdf"}},"author_association":"COLLABORATOR"}}
{"actor":{"display_login":"ryanjulian"}}