
    ni                         S SK rS rg)    Nc                    [        U 5      n[        U5      US-   :X  d   e[        R                  " U5      nU S   XS   -  -   nXeS'   [        [	        SUS-
  5      5       H)  nX   nXWS-      n	XSU-
  X7S-      -  X)-  -   -  -   n
XU'   M+     U$ )N   r   g      ?)lennpzerosreversedrange)rewardsgamma	td_lambdaval_tpath_lenreturn_tlast_valicurr_rnext_retcurr_vals              c/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/deep_mimic/learning/rl_util.pycompute_returnr      s    \(	Ux!|	##	#XXh(R[59,,(2,E!X\*+aZFAH#	/Uq5\!AIDX!XYYHQK	 , 
/    )numpyr   r    r   r   <module>r      s    r   