code reduction for training and eval

reward and everything else changed
again
wont be the last time

ml/SimManager.py

@@ -82,11 +82,40 @@ class SimManager:
     def step(self):
         p.stepSimulation(physicsClientId=self.physics_client)
 
+    def set_rendering(self, enabled: bool) -> None:
+        """Toggles PyBullet 3D rendering to speed up simulation."""
+        if self.physics_client is not None and p.isConnected(self.physics_client):
+            p.configureDebugVisualizer(
+                p.COV_ENABLE_RENDERING, 
+                1 if enabled else 0, 
+                physicsClientId=self.physics_client
+            )
+
     def disconnect(self):
         if self.physics_client is not None and p.isConnected(self.physics_client):
             p.disconnect(self.physics_client)
             self.physics_client = None
 
+    def get_contact_points(
+        self,
+        bodyA: int = -1,
+        bodyB: int = -1,
+        linkIndexA: int = -1,
+        linkIndexB: int = -1,
+    ):
+        """Wrapper around pybullet.getContactPoints bound to this simulation client."""
+        kwargs = {"physicsClientId": self.physics_client}
+        if bodyA != -1:
+            kwargs["bodyA"] = bodyA
+        if bodyB != -1:
+            kwargs["bodyB"] = bodyB
+        if linkIndexA != -1:
+            kwargs["linkIndexA"] = linkIndexA
+        if linkIndexB != -1:
+            kwargs["linkIndexB"] = linkIndexB
+
+        return p.getContactPoints(**kwargs)
+
     # --- ROBOT GETTERS AND SETTERS ---
 
     def reset_robot_base(
@@ -124,6 +153,17 @@ class SimManager:
         roll, pitch, yaw = p.getEulerFromQuaternion(orn)
         return float(roll), float(pitch), float(yaw)
 
+    def get_foot_link_indices(self, body_id: int) -> list[int]:
+        """Inspects URDF joint structure to extract link IDs for leg tips and tibias."""
+        foot_indices = []
+        num_joints = p.getNumJoints(body_id, physicsClientId=self.physics_client)
+        for j_idx in range(num_joints):
+            info = p.getJointInfo(body_id, j_idx, physicsClientId=self.physics_client)
+            link_name = info[12].decode("utf-8")
+            if "tip" in link_name or "tibia" in link_name:
+                foot_indices.append(j_idx)
+        return foot_indices
+
     def get_robot_pose_and_rpy(self, body_id: int) -> Tuple[List[float], Tuple[float, float, float]]:
         """Returns base position and (roll, pitch, yaw) tuple in radians."""
         pos, orn = p.getBasePositionAndOrientation(body_id, physicsClientId=self.physics_client)