
    ni(                        S SK r S SKrS SKr\R                  R	                  \R                  R                  \R                  " \R                  " 5       5      5      5      r\R                  R	                  \R                  R	                  \5      5      r	\R                  R                  R                  S \	5        \" S\	5        S SKrS SKJr  S SKJr  S SKrS SKJr  S SKJr  S SKJr  S SK
r
S SKrSrS	rS
rS qS qS rS r \
RB                  SS r"S r#\$S:X  a  \#" \"S	5      r%\%RL                  RN                  RQ                  5       (       a  \r)\ RT                  " \)5        \%RL                  RW                  5       r,\%RL                  R[                  \,S5      (       a  \(       + r\%RL                  R[                  \,S5      (       a  S	r\(       d  \(       a  \" \%\)5        S
r\%RL                  RN                  RQ                  5       (       a  M  ggg)    Nz
parentdir=)RLWorld)PPOAgent)	ArgParser)Logger)PyBulletDeepMimicEnvgq?TFc                 F   [         nU R                  U5        U R                  R                  SS9n[        U-  q[
        S-  qU R                  R                  5       nU(       d
  [
        S:  a4  [        S[        5        SqSqU R                  5         U R                  5         g )Nr   )agent_id   i  ztotal_reward=)
update_timestepupdateenvcalc_rewardtotal_rewardstepsis_episode_endprintend_episodereset)worldtime_elapsedtimeSteprewardr   s        Y/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/deep_mimic/testrl.pyupdate_worldr      s    (,,x99  ! ,&&,(% 		((*+UT\	/,'LE		KKM    c                 J   [        5       nUR                  U 5        UR                  SS5      nUS:X  a  SnUS:w  ag  [        R                  " 5       S-   U-   nUR                  U5      n[        R                  " U5        U(       d   [        R                  " SU-   5      5       eU$ )Narg_file z run_humanoid3d_backflip_args.txtz/args/zFailed to load args from: )r   	load_argsparse_stringpybullet_datagetDataPath	load_filer   print2)args
arg_parserr   pathsuccs        r   build_arg_parserr)   .   s    {*t$$Z4(^1H"n$$&1H<D%D
MM(G;hFGG4	r   r
   c                    [        U 5      n[        SU5        [        X!5      n[        X25      nUR	                  S5      n[        SU5        UR                  S5      n[        SU5        UR	                  S5      n[        SU5        [        R                  " 5       S-   UR	                  S	5      -   nS
n	[        SU5        [        U5       n
[        R                  " U
5      n[        SU5        X;   d   eX   n[        SU5        [        U[        U5      nUR                  S5        UR                  5         S S S 5        U$ ! , (       d  f       U$ = f)Nzenable_draw=motion_filezmotion_file=fall_contact_bodieszbodies=int_output_pathzint_output_path=/agent_files	AgentTypezagent_file=z
json_data=zagent_type=F)r)   r   r   r   r    
parse_intsr!   r"   openjsonloadr   idset_enable_trainingr   )r%   enable_drawr&   r   r   r+   bodiesr-   r/   AGENT_TYPE_KEY	data_file	json_data
agent_typeagents                 r   build_worldr>   @   s0   %*$Z5#
#
"% ''6+$  !67&	6++,=>/O,))+c1J4K4KM4ZZ+.{#KI		)$I	,	"&&&*J	-$UB	*E	e$	KKM  
,  
,s   A,D>>
E__main__ i).timeosinspectr'   dirnameabspathgetfilecurrentframe
currentdir	parentdirsysinsertr   r3   *pybullet_envs.deep_mimic.learning.rl_worldr   +pybullet_envs.deep_mimic.learning.ppo_agentr   r!   pybullet_utils.arg_parserr   pybullet_utils.loggerr   4pybullet_envs.deep_mimic.env.pybullet_deep_mimic_envr   randomr   	animatingstepr   r   r   r)   argvr%   r>   __name__r   r   _pybullet_clientisConnectedr   sleepgetKeyboardEventskeysisKeyTriggered r   r   <module>r^      s    	 WW__RWW__W__W=Q=Q=S-TUV
GGOOBGGOOJ78	   1i   lI   > @  / ( U 
 			* xx|> z
dD
!%		#	#	/	/	1	1HJJx99&&(Dyyc**-iyyc**dT5(#d 
	#	#	/	/	1	1 r   