
    nix	                        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 SKrS SKrS SKrS SKrS rS r\S:X  a  \" 5         gg)    Nc                 r   Sn[         R                  " U R                  5      nUR                  R                  U 5        [	        SU R
                  5        U R
                  S:X  a  UR                  SS9  UR                  5         [        R                  " 5       u  p4pVpxpppSnSn[        R                  " XX5        [        [        R                  " 5       5       H  n[        R                  " U5      n[        R                  " USSSS9  [        [        R                  " U5      5       HX  n[        R                  " UUSSSS	9  US
:X  d  M#  [        R                  " UU5      u  nn  n[        R                   " UUUS5        MZ     M     U R"                  (       aC   UR                  5         [	        S[        R                  " 5       5        [	        SU5        US-  nMB  [	        S5        UR$                  R'                  5       nUS-  n[	        S5        [	        U5        [        U R(                  5       H  nUR+                  U5      u  nnnnU R,                  (       a  [	        UR                  SS95        [	        S5        [	        U5        [	        S5        [	        U5        [	        S5        [	        U5        M     g )Nr   zargs.render=   human)modeg?)linearDampingangularDamping)r   r	   jointDamping   g{Gz?zp.getNumBodies()=zcount=zaction space:g        zaction=	rgb_arrayzobs=rewardsdone)gymmakeenv	configureprintrenderresetpgetDebugVisualizerCameraresetDebugVisualizerCamerarangegetNumBodiesgetBodyUniqueIdchangeDynamicsgetNumJointsgetJointStateresetJointStateresetbenchmarkaction_spacesamplestepssteprgb)argscountr   whvmatprojmatcamupcamfwdhorveryawpitchdisttargetobindexobuidljpjv_r"   actioniobsr   r   s                              X/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/examples/testEnv.pytestr>      s   
%#''D$
kkQJJGJ))+ABA[A[A]?!U##D	$	#t6()gg&EUBaBANN5)*uaqQRS Q$OOE!,	2a	%2d, + * 	iik!12Heqje	 
 ""$&C<&	-aHHV,C$CJJKJ()	&M	#J	)	'N	&M	$K     c                  t   SS K n U R                  " U R                  S9nUR                  SSSS9  UR                  SS[        SS	9  UR                  S
S[        SS	9  UR                  SS[        SS	9  UR                  SS[        SS	9  UR                  SS[        SS	9  UR                  5       n[        U5        g )Nr   )formatter_classz--envzenvironment IDzAntBulletEnv-v0)helpdefaultz--seedzRNG seed)rB   typerC   z--renderzOpenGL Visualizerz--rgbzrgb_array gym renderingz--resetbenchmarkz&Repeat reset to show reset performancez--stepszNumber of stepsr   )argparseArgumentParserArgumentDefaultsHelpFormatteradd_argumentint
parse_argsr>   )rE   parserr&   s      r=   mainrL   >   s    ""83Y3YZ&g$4>OPhZc1Ej':aPg$=CQRS(C  ! 	i&7c1M				$t*r?   __main__)osinspectpathdirnameabspathgetfilecurrentframe
currentdir	parentdirsysinsertpybullet_envsr   rE   pybulletr   r>   rL   __name__ r?   r=   <module>r]      s    	 WW__RWW__W__W=Q=Q=S-TUV
GGOOBGGOOJ78	   1i    
  /d" z& r?   