code: def __init__(self, world, init_angle, init_x, init_y):
      self.world: Box2D.b2World = world
      self.hull: Box2D.b2Body = self.world.CreateDynamicBody(
          position=(init_x, init_y),
          angle=init_angle,
          fixtures=[
              fixtureDef(
                  shape=polygonShape(
                      vertices=[
                          (x * SIZE, y * SIZE) for x, y in HULL_POLY1
                      ]
                  ),
                  density=1.0,
              ),
              fixtureDef(
                  shape=polygonShape(
                      vertices=[
                          (x * SIZE, y * SIZE) for x, y in HULL_POLY2
                      ]
                  ),
                  density=1.0,
              ),
              fixtureDef(
                  shape=polygonShape(
                      vertices=[
                          (x * SIZE, y * SIZE) for x, y in HULL_POLY3
                      ]
                  ),
                  density=1.0,
              ),
              fixtureDef(
                  shape=polygonShape(
                      vertices=[
                          (x * SIZE, y * SIZE) for x, y in HULL_POLY4
                      ]
                  ),
                  density=1.0,
              ),
          ],
      )
      self.hull.color = (0.8, 0.0, 0.0)
      self.wheels = []
      self.fuel_spent = 0.0
      WHEEL_POLY = [
          (-WHEEL_W, +WHEEL_R),
          (+WHEEL_W, +WHEEL_R),
          (+WHEEL_W, -WHEEL_R),
          (-WHEEL_W, -WHEEL_R),
      ]
      for wx, wy in WHEELPOS:
          front_k = 1.0 if wy > 0 else 1.0
          w = self.world.CreateDynamicBody(
              position=(init_x + wx * SIZE, init_y + wy * SIZE),
              angle=init_angle,
              fixtures=fixtureDef(
                  shape=polygonShape(
                      vertices=[
                          (x * front_k * SIZE, y * front_k * SIZE)
                          for x, y in WHEEL_POLY
                      ]
                  ),
                  density=0.1,
                  categoryBits=0x0020,
                  maskBits=0x001,
                  restitution=0.0,
              ),
          )
          w.wheel_rad = front_k * WHEEL_R * SIZE
          w.color = WHEEL_COLOR
          w.gas = 0.0
          w.brake = 0.0
          w.steer = 0.0
          w.phase = 0.0  # wheel angle
          w.omega = 0.0  # angular velocity
          w.skid_start = None
          w.skid_particle = None
          rjd = revoluteJointDef(
              bodyA=self.hull,
              bodyB=w,
              localAnchorA=(wx * SIZE, wy * SIZE),
              localAnchorB=(0, 0),
              enableMotor=True,
              enableLimit=True,
              maxMotorTorque=180 * 900 * SIZE * SIZE,
              motorSpeed=0,
              lowerAngle=-0.4,
              upperAngle=+0.4,
          )
          w.joint = self.world.CreateJoint(rjd)
          w.tiles = set()
          w.userData = w
          self.wheels.append(w)
      self.drawlist = self.wheels + [self.hull]
      self.particles = []
  
file_path: gym/gym/envs/box2d/car_dynamics.py
imports: import math
  import Box2D
  import numpy
  from gym.error import DependencyNotInstalled
label_desc: Use image node_id 1 to create a new Car object  with example: obj = Car(world, init_angle, init_x, init_y)