ni@tSrSSKJr SSKJr SSKJr SSKrSSKrSSKrSSKrSSK r SSK r SSK r SSK Js Jr "SS\5r"SS \5r"S S \5r"S S \5r"SS\5r"SS\5r"SS\5r"SS\5r"SS\5r"SS\5rg!\a SSKrN{f=f)z%Wrappers for OpenAI Gym environments.)absolute_import)division)print_functionNc0\rSrSrSrSrSrSrSrSr g) AutoReset"z9Automatically reset environment when the episode is done.cXlSUlg)NT)_env_doneselfenvs ]/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/agents/tools/wrappers.py__init__AutoReset.__init__%IDJc.[URU5$Ngetattrr r names r __getattr__AutoReset.__getattr__) 499d ##rcUR(a"URR5SS04up#pEOURRU5up#pEX@lX#XE4$)NgF)r r resetstepr actionobservrewarddoneinfos rrAutoReset.step,sP zz#'99??#4c5"#D fdD#'99>>  fdJ 4 %%rcDSUlURR5$)NF)r r rr s rrAutoReset.reset4sDJ 99?? r)r r N __name__ __module__ __qualname____firstlineno____doc__rrrr__static_attributes__rrrr"sA$&rrc*\rSrSrSrSrSrSrSrg) ActionRepeat9z'Repeat the agent action multiple steps.cXlX lgr)r _amount)r ramounts rrActionRepeat.__init__<s ILrc.[URU5$rrrs rrActionRepeat.__getattr__@rrcSnSnSnX@R:aFU(d?URRU5upVp'X6- nUS- nX@R:a U(dM?WX2W4$)NFr)r6r r)r r!r$ total_reward current_stepr"r#r%s rrActionRepeat.stepCse DLL  %d#'99>>  fdlal  %dd ># $$rcURRU5up#pEU=RS- slX RURUR-'UR 5nX#XE4$)Nr<)r rr_r`rb_select_framesr s rrFrameHistory.stepsX!%!7FDJJ!OJ06LLdnn,-  "F 4 %%rcURR5n[R"USURS5UlSUlUR5$)Nrjr)r rrKrqrbr`r_r{r r"s rrFrameHistory.resetsE YY__ F99VI.BDLDJ     rcURVs/sHoRU- UR-PM nnURUnUR(a'[ R "USURSS-5nU$s snf)Nrkrm)r^r_rbr`rcrKrsrt)r indexindicesr"s rr{FrameHistory._select_framessnBFBTBTUBT U"dnn4BTGU \\' "F }}zz&%&,,qr*:":;f M Vs%A?)r`rbr rcr^r_N) r+r,r-r.r/rrpropertyrnrrr{r0r1rrrZrZds27.$ % %&! rrZc@\rSrSrSrSrSr\S5rSr Sr Sr g ) FrameDeltazFConvert the observation to a difference from the previous observation.cXlSUlgrr _lastr s rrFrameDelta.__init__rrc.[URU5$rrrs rrFrameDelta.__getattr__rrcURRRnURRRnX- X!- p![R R X5$r)r rnrorprurvrwrxs rrnFrameDelta.observation_spacesJ )) % % ) )C 99 & & + +D DJ ::>># $$rcnURRU5up#pEX R- nX lXcXE4$r)r rr)r r!r"r#r$r%deltas rrFrameDelta.steps5!%!7FD ZZ EJ $ $$rcFURR5nXlU$r)r rrr~s rrFrameDelta.resets YY__ FJ MrrN) r+r,r-r.r/rrrrnrrr0r1rrrrs-N$ % % % rrcf\rSrSrSrSSjrSr\S5r\S5r Sr S r S r S r S rS rg)RangeNormalizezCNormalize the specialized observation and action ranges to [-1, 1].Nc8XlUSL=(a% URURR5UlUSLaUR(d [ S5eUc0UR(d[ R RS5 USL=(a% URURR5Ul USLaUR(d [ S5eUc2UR(d [ R RS5 ggg)NFTz,Cannot normalize infinite observation range.z+Not normalizing infinite observation range.z'Cannot normalize infinite action range.z&Not normalizing infinite action range.) r _is_finitern_should_normalize_observ ValueErrorrQrRr%rO_should_normalize_action)r rr"r!s rrRangeNormalize.__init__sI%+5%8&R%)__TYY5P5P%Q ! ~d;; E FF ~d;;jjooCD%+5%8&M%)__TYY5K5K%L ! ~d;; @ AA ~d;;jjoo>?<~rc.[URU5$rrrs rrRangeNormalize.__getattr__rrcURRnUR(dU$[RR [ R"UR5*[ R"UR55$r) r rnrrurvrwrKonesrtr spaces rrn RangeNormalize.observation_spacesQ II ' 'E  ( ( l ::>>2775;;//1E FFrcURRnUR(dU$[RR [ R"UR5*[ R"UR55$r) r rOrrurvrwrKrrtrs rrORangeNormalize.action_spacesQ II " "E  ( ( l ::>>2775;;//1E FFrcUR(aURU5nURRU5up#pEUR(aUR U5nX#XE4$r)r_denormalize_actionr rr_normalize_observr s rrRangeNormalize.stepsV $$''/f!%!7FD $$%%f-f 4 %%rc~URR5nUR(aURU5nU$r)r rrrr~s rrRangeNormalize.resets0 YY__ F $$%%f-f MrcURRRnURRRnUS-S- X2- -U-nU$)Nr<rm)r rOrorp)r r!min_max_s rr"RangeNormalize._denormalize_actionsK 99 ! ! % %D 99 ! ! & &DqjA  - 4F MrcURRRnURRRnSX- -X2- - S- nU$)Nrmr<)r rnrorp)r r"rrs rr RangeNormalize._normalize_observsI 99 & & * *D 99 & & + +D &- DK 01 4F Mrc[R"UR5R5=(a. 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Returns: Value of the attribute. )rsend_ACCESS_receivers rrExternalProcess.__getattr__Ys) JJOOT\\4() ==?rcpXU4nURRURU45 UR$)a'Asynchronously call a method of the external environment. Args: name: Name of the method to call. *args: Positional arguments to forward to the method. **kwargs: Keyword arguments to forward to the method. Returns: Promise object that blocks and provides the return value when called. )rr_CALLr)r rrkwargspayloads rcallExternalProcess.callhs1& GJJOOTZZ)* ==rcURRURS45 URR5 UR R 5 g![a N'f=f)z9Send a close message to the external process and join it.N)rr_CLOSErIOErrorrjoinr(s rrExternalProcess.closewsV  jjoot{{D)* jj MM    sAA A+*A+cFURSU5nU(aU"5$U$)zStep the environment. Args: action: The action to apply to the environment. blocking: Whether to wait for the result. Returns: Transition tuple when blocking, otherwise callable that returns the transition tuple. rr)r r!blockingpromises rrExternalProcess.steps$ii'G Y nrcDURS5nU(aU"5$U$)zReset the environment. Args: blocking: Whether to wait for the result. Returns: New observation when blocking, otherwise callable that returns the new observation. rr)r rrs rrExternalProcess.resets"ii G Y nrcURR5upXR:Xa Un[U5eXR:XaU$[ SR U55e)zWait for a message from the worker process and return its payload. Raises: Exception: An exception was raised inside the worker process. KeyError: The reveived message is of an unknown type. Returns: Payload object of the message. z&Received message of unexpected type {})rrecv _EXCEPTION Exception_RESULTr]format)r messager stacktraces rrExternalProcess._receivesWzz(G//!j j !!,, n ;BB7K LLrc6U"5nURS5(dMUR5upEX@R:Xa,Un[ X65nUR URU45 MgX@R:Xa5Uuphn [ X65"U0U D6nUR URU45 MX@R:XaUbeO[SRU55eUR-5 g![[4a M$f=f![a SR[R"[ R""565n [$R&R)SRU 55 UR UR*U 45 Nf=f)zThe process waits for actions and sends back environment results. 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Returns: Value behind the attribute name in the wrapped environment. rrs rrConvertTo32Bit.__getattr__s 499d ##rcURRU5up#pEURU5nURU5nX#XE4$)zForward action to the wrapped environment. Args: action: Action to apply to the environment. Raises: ValueError: Invalid action. Returns: Converted observation, converted reward, done flag, and info object. )r r_convert_observ_convert_rewardr s rrConvertTo32Bit.stepsF"&!7FD  ! !& )F  ! !& )F 4 %%rc\URR5nURU5nU$)z`Reset the environment and convert the resulting observation. Returns: Converted observation. )r rr r~s rrConvertTo32Bit.resets) YY__ F  ! !& )F Mrcb[R"U5R5(d [S5eUR[R :XaUR [R5$UR[R:XaUR [R5$U$)zConvert the observation to 32 bits. Args: observ: Numpy observation. Raises: ValueError: Observation contains infinite values. Returns: Numpy observation with 32-bit data type. z!Infinite observation encountered.) rKrrrdtypefloat64astypefloat32int64int32r~s rr ConvertTo32Bit._convert_observ ss ;;v  " " $ $ : ;; ||rzz! ]]2:: && ||rxx ]]288 $$ Mrc[R"U5R5(d [S5e[R"U[R S9$)zConvert the reward to 32 bits. Args: reward: Numpy reward. Raises: ValueError: Rewards contain infinite values. Returns: Numpy reward with 32-bit data type. zInfinite reward encountered.)r&)rKrrrarrayr))r r#s rr!ConvertTo32Bit._convert_reward s= ;;v  " " $ $ 5 66 88F"** --rrN) r+r,r-r.r/rrrrr r!r0r1rrrrs#B $&"(.rr)r/ __future__rrrrrrrru gym.spacesnumpyrKtensorflow.compat.v1compatv1rQr tensorflowobjectrr3rArZrrrrrrr1rrr8s,&%   ## .,6,*&,:6:z:>JV>JB""(F4kfk\S.VS.{ s B** B76B7