ni SrSSKJr SSKJr SSKJr SSKrSSKrSSKJr SSK J r SSK J r S \RS \ S \ R4S jrS \R S\R"\ S\R$4Sjr"SS\5rg)zUtilities for safety layers.)absolute_import)division)print_functionN) robot_config) data_types) safety_errornamevalueboundcURUs=::aUR::ag [R"SR XU55e)aCheck if the given value is within the provided bound. Args: name: The name of the value. value: Number to be checked. bound: Contains the lower and upper bounds. The bound is inclusive. Raises: safety_error.OutofBoundError: when the value is outside the bound. Nz{} is out of bound {} for {})lowerupperrOutOfBoundErrorformat)r r r s h/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/safety/utilities.pyassert_in_boundrsI [[E(U[[( )  & &'E'L'L d( robotaction control_modec </nU[RR:Xah[U5HYupEUR [ R "URUUR5USUR5USS95 M[ U[RR:XdU[RR:XaF[U5H7upFUR [ R "URSSSSUS95 M9 U[RR:XGar[UR5GHXnU[R-[R RR"-nU[R-[R R$R"-nU[R-[R R&R"-n U[R-[R R(R"-n U[R-[R RR"-n UR [ R "URXXXXXS95 GM[ U$)zConverts the input action to generic MotorAction classes. Args: robot: An robot instance. action: The motor commands sent to the robot. control_mode: The motor control mode. Returns: The list of converted MotorAction instances. r) timestampposition position_gainvelocity velocity_gaintorque)rMotorControlModePOSITION enumerateappendr MotorActionlast_action_timeGetMotorPositionGainsGetMotorVelocityGainsTORQUEPWMHYBRIDrange num_motorsHYBRID_ACTION_DIMENSIONHybridActionIndexr POSITION_GAINVELOCITY VELOCITY_GAIN) rrrmotor_action_listmotor_idrrposition_indexposition_gain_indexvelocity_indexvelocity_gain_index torque_indexs rconvert_to_motor_actionr7 sQ\22;;;'/  ..!779(C!779(C  0l33:::l33777%f-  ..  .\22999%**+ \99 9  ( ( 1 1 7 7 8 \99 9  ( ( 6 6 < < = \99 9  ( ( 1 1 7 7 8 \99 9  ( ( 6 6 < < = \99 9  ( ( / / 5 5 6  ..-"7-"7)  +,!,2 rcF\rSrSrSrS\4SjrS\4SjrS\S\4S jr S r g ) MovingWindowFilterdzA stable O(1) moving filter for incoming data streams. We implement the Neumaier's algorithm to calculate the moving window average, which is numerically stable. window_sizecnUS:deXl[R"US9UlSUlSUlg)zEInitializes the class. Args: window_size: The moving window size. r)maxlenN) _window_size collectionsdeque _value_deque_sum _correction)selfr;s r__init__MovingWindowFilter.__init__ls: ??##))=DDIDrr cURU-n[UR5[U5:a&U=RURU- U-- slO$U=RX- UR-- slX lg)zUpdate the moving window sum using Neumaier's algorithm. For more details please refer to: https://en.wikipedia.org/wiki/Kahan_summation_algorithm#Further_enhancements Args: value: The new value to be added to the window. N)rBabsrC)rDr new_sums r _neumaier_sum MovingWindowFilter._neumaier_sum{shii%G 499~U# 499w.%77 5?dii77Ir new_valuereturncB[UR5nX RR:aOURURS*5 URU5 URR U5 UR UR -UR- $)zComputes the moving window average in O(1) time. Args: new_value: The new value to enter the moving window. Returns: The average of the values in the window. r)lenrAr=rJr!rBrCr>)rDrL deque_lens rcalculate_average$MovingWindowFilter.calculate_averagesD%%&I$$+++  $++A../y!Y' II(( (D,=,= ==r)rCrBrAr>N) __name__ __module__ __qualname____firstlineno____doc__intrEfloatrJrQ__static_attributes__rrr9r9ds2 # (>>5>rr9)rW __future__rrrr?typingpybullet_envs.minitaur.robotsr$pybullet_envs.minitaur.robots.safetyrrTextrYBoundrAnySequencerr7objectr9r[rrres"&% 6;=&++eJ?>r