niTSrSSKrSSKrSSKrSSKrSSKrSSKr"SS\5r Sr g)zYThis file implements the functionalities of an example simulated system using pybullet. Ncx\rSrSrSr\R "5S4SjrSSjrSr Sr Sr S r S r S rS rS rg)BoxStackPyBulletSim zhThe ExamplePyBulletSim class that adds some objects to the scene, steps the sim and return a reward. g{Gz?cbXlX lSUlX0lSUlUR SS9 g)zConstructs an example simulation and reset it to the initial states. Args: pybullet_client: The instance of BulletClient to manage different simulations. urdf_root: The path to the urdf folder. time_step: The time step of the simulation. rT) reload_urdfN)_pybullet_client _urdf_rootm_actions_taken_since_reset time_stepstateIdReset)selfpybullet_client urdf_rootr s h/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/prediction/boxstack_pybullet_sim.py__init__BoxStackPyBulletSim.__init__s1,O'(D$NDLJJ4J cSUlSnSnSnU(GaURR5nUSn[SUS5 [SUS5 [SUS 5 [S US 5 URR S USUSUS S 9 URR S5nURR S5nURRUSUS9 SUl/Ul /SQn /SQn /SQn /SQn XX/n [UR5HnSSXNS-U--/nURR/SQ5n/SQnURR SUU5nURRUSXS9 URRU5 M URRSSS5 URR5UlO5URS:a%URR!UR5 SnURHn["R$"U*U5n["R$"U*U5n["R$"[&R(*[&R(5nUUUUS-U--/nUS- nURRSSU/5nURR+XU5 M g)zReset the minitaur to its initial states. Args: reload_urdf: Whether to reload the urdf file. If not, Reset() just place the minitaur back to its starting position. rg? z cameraYaw=z cameraPitch= z camtarget= zprojectionMatrix=g333333?)cameraDistance cameraYaw cameraPitchcameraTargetPositionz plane.urdfzchecker_blue.pngr)textureUniqueId)g ףp= ??r")g= ףp=?g(\?gףp= ?r#)gq= ףp?g\(\?rr#)rg?gQ?r#)rrr)rrrr#zcube_small.urdf) rgbaColorir#N)r r getDebugVisualizerCameraprintresetDebugVisualizerCameraloadURDF loadTexturechangeVisualShape _numObjects_cubesrangegetQuaternionFromEulerappend setGravity saveStater restoreStaterandomuniformmathpiresetBasePositionAndOrientation)rr xPosRange yPosRangeboxHalfExtentscamInforplanetexUidredgreenyellowbluecolorsiposorncubeindexposXposYyaws rrBoxStackPyBulletSim.Reset!s()D$IIN%%>>@gr{n L'!*% NGAJ' L'"+& , 66cAHCJ1:LSTVK7Y ##,,\:e$$001CDf --eR-Pddk !c#e!f dF)fT%%&!!^!en&<<=##::9E$$--.?cJ //bFI/N 4 ' &&q!S1**446dl ,,!  **4<<8 E [[ ^^YJ 2d ^^YJ 2d NNDGG8TWW -c 4%!)n*DD Ec qje  ! ! 8 8!Q Ec ;;ACHrcg)zNGet the length of the action list. Returns: The length of the action list. r!rs rGetActionDimension&BoxStackPyBulletSim.GetActionDimension^s rc`[R"S/UR5-5nSUSS&U$)zGet the upper bound of the observation. Returns: The upper bound of an observation. See GetObservation() for the details of each element of an observation. gg?rN)nparrayGetObservationDimension)r upper_bounds rGetObservationUpperBound,BoxStackPyBulletSim.GetObservationUpperBoundfs3((C54#?#?#AABKKO rc$UR5*$)z'Get the lower bound of the observation.)rWrOs rGetObservationLowerBound,BoxStackPyBulletSim.GetObservationLowerBoundqs  ) ) + ++rcP[UR55n[SU5 U$)zXGet the length of the observation list. Returns: The length of the observation list. zsz=)lenGetObservationr')rszs rrU+BoxStackPyBulletSim.GetObservationDimensionus& T " #B % Irc/nURHTnURRU5up4UR[ U55 UR[ U55 MV U$)zGet the observations of minitaur. Returns: The observation list. observation[0:4] is the base orientation in quaternion form. )r-r getBasePositionAndOrientationextendlist)r observationrDrErFs rr^"BoxStackPyBulletSim.GetObservations[ K [[&&DDQGhcc#c# rc.U=RS- slg)zSet the desired action. r#Nr )ractions r ApplyActionBoxStackPyBulletSim.ApplyActions $$)$rc URS:$)NrhrOs r TerminationBoxStackPyBulletSim.Terminations  + +s 22r)r-r,r r r r r N)F)__name__ __module__ __qualname____firstlineno____doc__ pybullet_data getDataPathrrrPrWrZrUr^rjrn__static_attributes__rNrrrr sG1>0I0I0KW[! ;Iz  , * 3rrc[UUUS9nU$)N)rrr )r)rrr sims r CreateSimrzsO&/&/ 1# *r) rtcopyr6numpyrSosrur4objectrrzrNrrrs2   F3&F3R r