code: def _reward(self):
      if self._goal_reached():
          return self.goal_reached_reward
      else:
          return self.goal_not_reached_penalty
  
file_path: coach/rl_coach/environments/mujoco/pendulum_with_goals.py
imports: import os
  import gym
  import numpy
  from gym import spaces
  from gym.envs.registration import EnvSpec
  from mujoco_py import load_model_from_path, MjSim, MjViewer, MjRenderContextOffscreen
label_desc: Use image node_id 4 for calling the PendulumWithGoals obj's underlying member method code with example usage: obj._reward() and returns: self, self