ni(SrSSKJrJrJrJrJrJrJr SSK J r SSK r SSK r SSKJr SSKJr SSKJr SSKJr SS KJr SrS r\ R2"S S \R455rg) zDA module that defines autonomous object class and related functions.)AnyCallableDictOptionalSequenceTextUnion)loggingN) bullet_client) base_client)sensor)object_controller) robot_baseic `\rSrSrSrS,S\S\\RS\ RS\ 4Sjjr S-S jr S \RS S4S jrS \/\4S S4Sjr\S5rS\S\\\4S S4SjrSrS-SjrS.S\\\S\\\S\\ RS S4SjjrS-SjrS\S \4SjrS\S S4SjrS-Sjr S-Sjr!S/S\"\\\#RH4S\"\\\#RH44S jjr%S\"\\\#RH4S\"\\\#RH44S!jr&S0S"jr'\S \\4S#j5r(\S \\R4S$j5r)\S \#RH4S%j5r*\S \#RH4S&j5r+\S \#RH4S'j5r,\S(5r-\S)5r.\S \/4S*j5r0S+r1g)1AutonomousObjectzGAutonomous object that moves/acts in simulation guided by a controller.N urdf_filesensors controlleractuate_by_resetc"XlU=(d [R"5UlX@lU(d UR O UR Ul[U5Ul SUl SUl SUl SUl UR5 g)aConstructor. Args: urdf_file: The path to urdf file of the object. sensors: A list of sensor objects to attach to autonomous object. controller: A controller object that governs autonomous object's motion. If not specified, StationaryController is used. actuate_by_reset: Use pybullet resetBasePositionAndOrientation to actuate the object. Default is False, which means actuate by constraint. In the actuate by constrained mode, be extra cautious when the position or orientation control is based on position or orientation sensor reading of the same object. This loop-back condition is known to be problematic and causes slower than expected motion. N) _urdf_filerStationaryController _controller_actuate_by_reset_actuate_base_pose_reset_base_pose_actuate_functionlist_sensors _object_id_constraint_id_pybullet_client_clock_init_internal_states)selfrrrrs i/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/autonomous_object.py__init__AutonomousObject.__init__s~& O!M%6%K%K%MD-  %)%:%: MDMDOD DDK returncSUl0Ul[R"S5Ul[R "/SQ5Ulg)Nrrrr)_observations_time_since_reset _observationsnpzeros _positionarray _orientationr's r(r&&AutonomousObject._init_internal_states?s2*+D'DXXa[DN.Dr+pybullet_clientcPXlUR5 UR5 g)z-Sets new simulation client and reload assets.N)r$r&load)r'r:s r(set_sim_clientAutonomousObject.set_sim_clientEs+ IIKr+clockcXlg)z=Sets monotonic clock when adding into simulation environment.N)r%)r'r?s r( set_clockAutonomousObject.set_clockKsKr+cUR$Nr"r8s r( sim_object_idAutonomousObject.sim_object_idO ??r+time_since_reset_sec observationscnXR:a[SURU4-5eXlX lg)zUpdates simulation time and observations. This function should be called before apply_action in each simulation step. Args: time_since_reset_sec: Time from start of simulation reset in seconds. observations: A dict of observations. z5Time cannot go backwards. Current t = %f, new t = %f.N)r1 ValueErrorr2)r'rIrJs r(updateAutonomousObject.updateSsEAAA  A  . .0D E F GG+?'%r+c[SUR5 URRUR5Ulg! [SUR5 SSKnUR S5 g=f)zLoads object URDF file.z loading: zError: cannot load rN)printrr$loadURDFr"sysexit)r'rRs r( _load_urdfAutonomousObject._load_urdfdsU K)--66tGdo !4??3 hhqks AA-A2c 6UR5 UR(dDURRURSSSURR SSSSS9 UlURHnURU5 M UR5 g)z-Reconstructs the robot and resets its states.rrrrr/) parentBodyUniqueIdparentLinkIndexchildBodyUniqueIdchildLinkIndex jointType jointAxisparentFramePositionchildFramePositionchildFrameOrientationN) rTrr$createConstraintr" JOINT_FIXEDr#r! set_robotreset)r'ss r(r<AutonomousObject.loadnsOO  ! ! 11BB!__))55'& ,C .d]]kk$ JJLr+ base_positionbase_orientation_quaternioncHUcUb [S5eUbX0lUR5 URR[R UR 5uUlUlnURURUR5 UR5 g)a]Resets the states (e.g. pose and sensor readings) of the robot. This is called at the start of each episode by the environment. Args: base_position: Robot base position after reset. Must be None. base_orientation_quaternion: Robot base orientation after reset. Must be None. controller: A new controller to replace original controller. NzNReset position and orientation of AutonomousObject is specified in controller.) rLrr& get_actionr INIT_TIMEr2r5r7rreceive_observation)r'rgrhr_s r(rdAutonomousObject.resets" $?$K 2 33# +/+;+;+F+F##T%7%7,9(DND%q $..$*;*;<r+cg)z*Shuts down the robot, no-op in simulation.Nr8s r( terminateAutonomousObject.terminatesr+actionc.U[La [S5eU$)zProcesses the input action before the action repeat loop. Args: action: expect it to be `AUTONOMOUS_ACTION` at present. Returns: the action as is. EAutonomousObject only accept AUTONOMOUS_ACTION as action value input.)AUTONOMOUS_ACTIONrL)r'rss r(pre_control_step!AutonomousObject.pre_control_steps$&& - .. Mr+cU[La [S5eURRURUR 5up#nUR X#5 g)z Applies the action to the robot.ruN)rvrLrrjr1r2r)r'rsposition orientationrms r( apply_actionAutonomousObject.apply_actions\&& - ..#//:: ++T-?-? AH1 81r+cURRUR5up[R"U5Ul[R"U5Ulg)z"Updates the robot sensor readings.N)r$getBasePositionAndOrientationr"r3r6r5r7)r'rzr{s r(rl$AutonomousObject.receive_observationsD ;;DOOLHXXh'DN-Dr+cg)z=Updates internal variables. Not yet used in AutonomousObject.Nrpr8s r(post_control_step"AutonomousObject.post_control_stepsr+rzorientation_quatcUc URnUc URnURRURSS5 URR URX5 g)zResets the base to the desired position and orientation. Args: position: The desired base position. If omitted, current location is used. orientation_quat: The desired base orientation in quaternion. If omitted, current orientation is used. NrW)r5r7r$resetBaseVelocityr"resetBasePositionAndOrientationr'rzrs r(r!AutonomousObject._reset_base_posesah**++DOOY,5799 5r+cXURRURUU[S9 g)a<Actuates the base to the desired position and orientation. Difference of this function from _reset_base_pose() is that this function considers dynamics along the path and collisions along the motion path. Args: position: The desired base position. orientation_quat: The desired base orientation in quaternion. )jointChildFrameOrientationmaxForceN)r$changeConstraintr# _MAX_FORCErs r(r#AutonomousObject._actuate_base_poses/ ** #3 +r+cAg)z:Resets the joint angles. Not yet used in AutonomousObject.Nrp)r' joint_angless r(_reset_joint_angles$AutonomousObject._reset_joint_anglessr+cg)zCReturns a sequence of action names. Always () for AutonomousObject.rprpr8s r( action_namesAutonomousObject.action_namess r+cUR$)z"Returns the sensors on this robot.)r!r8s r(rAutonomousObject.sensorss ==r+c6URR5$)z=Returns the base pose as a quaternion in format (x, y, z, w).)r7copyr8s r(rh,AutonomousObject.base_orientation_quaternions    ! ! ##r+ct[R"URRUR55$)z8Returns the base roll, pitch, and yaw angles in radians.)r3r6r$getEulerFromQuaternionr7r8s r(base_roll_pitch_yaw$AutonomousObject.base_roll_pitch_yaws1 88 44T5F5FG IIr+c6URR5$)z1Returns the base cartesian coordinates in meters.)r5rr8s r(rgAutonomousObject.base_position s >>    r+cRURc [S5eUR5$)zSimulation monotonic time.z1Must call set_clock() before accessing timestamp.)r% RuntimeErrorr8s r( timestampAutonomousObject.timestamps& {{ L MM ;;=r+cUR$rD)r$r8s r(r: AutonomousObject.pybullet_clients   r+cUR$rDrEr8s r(robot_idAutonomousObject.robot_idrHr+) rrr%r#rr"r2r1r7r5r$r!r)rpNF)r,N)NNN)NNrD)2__name__ __module__ __qualname____firstlineno____doc__rrr SensorrControllerBaseboolr)r&r BulletClientr=rfloatrApropertyrFrrrMrTr<rrdrqrwr|rlrr r3ndarrayrrrrrrhrrgrr:intr__static_attributes__rpr+r(rrsO35>B(- ! ! / !-;; !"& !D/ M,F,F4 Xb%i0T  &&c ?&/3&".26?C?C huo.$,HUO#<,;;< IM >5 S S  2 2 2. GK=A5!&x 'B!C5).x/1zz0:*;5,x /J)K+0%"**1L+M" HTN  x .  $2::$ $ I2::I I  !RZZ! !   ! !  r+r)rtypingrrrrrrr abslr ginnumpyr3pybullet_utilsr pybullet_envs.minitaur.envs_v2r &pybullet_envs.minitaur.envs_v2.sensorsr pybullet_envs.minitaur.robotsrrrvr configurable RobotBaserrpr+r(rsbJGGG (69;4 Dz++DDr+