niSrSSKJr SSKJr SSKJr SSKrSSKr\RR\RR\R"\R"5555r \RR\RR\ 55r \RRRS\ 5 SSKrSSKrSSKrSSKrSSKJr SrSrS rS r"S S \5rg) azA proto buffer based logging system for minitaur experiments. The logging system records the time since reset, base position, orientation, angular velocity and motor information (joint angle, speed, and torque) into a proto buffer. See minitaur_logging.proto for more details. The episode_proto is updated per time step by the environment and saved onto disk for each episode. )absolute_import)division)print_functionN)minitaur_logging_pb2c@USUlUSUlUSUlg)Nr)xyz) base_statevaluess f/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/envs/minitaur_logging.py_update_base_staters#*,*,*,c[U5HnURR5nSUlSURlSURl[[5H9nURR5nSUl SUl SUl SUl M; [UR/SQ5 [UR/SQ5 [UR /SQ5 M g)aPreallocate the memory for proto buffer. Dynamically allocating memory as the protobuf expands causes unexpected delay that is not tolerable with locomotion control. Args: episode_proto: The proto that holds the state/action data for the current episode. max_num_steps: The max number of steps that will be recorded in the proto. The state/data over max_num_steps will not be stored in the proto. Fr)rrrN)range state_actionadd info_validtimesecondsnanos NUM_MOTORS motor_statesanglevelocitytorqueactionr base_positionbase_orientationbase_angular_vel) episode_proto max_num_steps_step_log motor_states rpreallocate_episode_protor)"s  a))--/HHHMMHMM : ))--/kkkkk  x--y9x00)<x00)< rc[UR5nX4:a&[R"SR X455 gURUnUR 5UlUR5n[U5URl [U[U5- S-5URl UR5nUR5nUR5n [UR 5H[n XzUR"U lXUR"U lXUR"U lX*UR"U lM] [-UR.UR155 [-UR2UR555 [-UR6UR955 g)aUpdate the episode proto by appending the states/action of the minitaur. Note that the state/data over max_num_steps preallocated (len(episode_proto.state_action)) will not be stored in the proto. Args: episode_proto: The proto that holds the state/action data for the current episode. minitaur: The minitaur instance. See envs.minitaur for details. action: The action applied at this time step. The action is an 8-element numpy floating-point array. step: The current step index. zP{}th step is not recorded in the logging since only {} steps were pre-allocated.NgeA)lenrloggingwarningformatIsObservationValidrGetTimeSinceResetintrrrGetMotorAnglesGetMotorVelocitiesGetMotorTorquesr num_motorsrrrrr rr!GetBasePositionr"GetBaseRollPitchYawr#GetBaseRollPitchYawRate) r$minitaurr stepr%r'time_in_seconds motor_anglesmotor_velocities motor_torquesis rupdate_episode_protor@>s|m001-  OO((.t(CE  ' ' -( 335(..0/o.(--_s?/CCsJK(--((*,002**,- $$ %a%1_H!"(8(;H!%&3&6H!#&,iH!# & X++X-E-E-GHX..0L0L0NOX..0P0P0RSrc.\rSrSrSrSSjrSrSrSrg) MinitaurLoggingdz@A logging system that records the states/action of the minitaur.NcXlgN _log_path)selflog_paths r__init__MinitaurLogging.__init__gsNrcUR(aUR(d UR$[RR UR5(d [R "UR5 [ R "5n[RRU5RS5n[RRURSRU55n[US5nURUR55 SSS5 U$!,(df  U$=f)aSave episode_proto to self._log_path. self._log_path is the directory name. A time stamp is the file name of the log file. For example, when self._log_path is "/tmp/logs/", the actual log file would be "/tmp/logs/yyyy-mm-dd-hh:mm:ss". Args: episode_proto: The proto that holds the states/action for the current episode that needs to be save to disk. Returns: The full log path, including the directory name and the file name. z%Y-%m-%d-%H%M%Szminitaur_log_{}wbN)rGrospathexistsmkdirrdatetime fromtimestampstrftimejoinr.openwriteSerializeToString)rHr$ts time_stamprIfs r save_episodeMinitaurLogging.save_episodeks >>!;!; ^^ 77>>$.. ) )hht~~ B""004==>OPJww||DNN,=,D,DZ,PQH h ggm--/0  O   Os  D// D>c[US5nUR5n[R"5nUR U5 UsSSS5 $!,(df  g=f)zRestore the episodic proto from the log path. Args: log_path: The full path of the log file. Returns: The minitaur episode proto. rbN)rVreadrMinitaurEpisodeParseFromString)rHrIr[contentr$s rrestore_episodeMinitaurLogging.restore_episodesF h g*::rys'% WW__RWW__W__W=Q=Q=S-TU V GGOOBGGOOJ7 8  1i  <   =8#TL,f,r