text: from python_visual_mpc.visual_mpc_core.envs.mujoco_env.cartgripper_env.base_cartgripper import BaseCartgripperEnv
  import copy
  import pdb
  
  
  class CartgripperXYZEnv(BaseCartgripperEnv):
      def __init__(self, env_params, reset_state):
          self._hyper = copy.deepcopy(env_params)
          super().__init__(env_params, reset_state)
  
          self._adim, self._sdim = self._base_adim, self._base_sdim
          self._n_joints = self._adim
  
      def _default_hparams(self):
          default_dict = {}
  
          parent_params = super()._default_hparams()
          for k in default_dict.keys():
              parent_params.add_hparam(k, default_dict[k])
          return parent_params
  
      def _init_dynamics(self):
          return
  
      def _next_qpos(self, action):
          assert action.shape[0] == self._adim
          return self._previous_target_qpos * self.mode_rel + action