text: from dataclasses import dataclass
  from typing import List, Dict, Any, Tuple
  
  import pybullet
  
  from racecar_gym.bullet.actuators import BulletActuator
  from racecar_gym.bullet.sensors import BulletSensor
  from racecar_gym.core.definitions import Pose
  from racecar_gym.core.vehicles import Vehicle
  
  
  class RaceCar(Vehicle):
      @dataclass
      class Config:
          urdf_file: str
          color: Tuple[float, float, float, float]
  
      def __init__(self, sensors: List[BulletSensor], actuators: List[BulletActuator], config: Config):
          super().__init__()
          self._id = None
          self._config = config
          self._on_finish = False
  
          self._sensor_indices = {
              'lidar': 4,
              'rgb_camera': 5
          }
  
          self._actuator_indices = {
              'motor': [8, 15],
              'steering': [0, 2]
          }
          self._actuators = dict([(a.name, a) for a in actuators])
          self._sensors = sensors
  
      @property
      def id(self) -> Any:
          return self._id
  
      @property
      def sensors(self) -> List[BulletSensor]:
          return self._sensors
  
      @property
      def actuators(self) -> Dict[str, BulletActuator]:
          return self._actuators
  
      def reset(self, pose: Pose):
          if not self._id:
              self._id = self._load_model(self._config.urdf_file, initial_pose=pose)
              self._setup_constraints()
          else:
              pos, orn = pose
              pybullet.resetBasePositionAndOrientation(self._id, pos, pybullet.getQuaternionFromEuler(orn))
  
          for sensor in self.sensors:
              joint_index = None
              if sensor.type in self._sensor_indices:
                  joint_index = self._sensor_indices[sensor.type]
              sensor.reset(body_id=self._id, joint_index=joint_index)
  
          for name, actuator in self.actuators.items():
              joint_indices = None
              if name in self._actuator_indices:
                  joint_indices = self._actuator_indices[name]
              actuator.reset(body_id=self._id, joint_indices=joint_indices)
  
      def _load_model(self, model: str, initial_pose: Pose) -> int:
          position, orientation = initial_pose
          orientation = pybullet.getQuaternionFromEuler(orientation)
          id = pybullet.loadURDF(model, position, orientation)
          pybullet.changeVisualShape(id, -1, rgbaColor=self._config.color)
          return id
  
      def _setup_constraints(self):
          car = self._id
          for wheel in range(pybullet.getNumJoints(car)):
              pybullet.setJointMotorControl2(car,
                                            wheel,
                                            pybullet.VELOCITY_CONTROL,
                                            targetVelocity=0,
                                            force=0)
              pybullet.getJointInfo(car, wheel)
  
              # pybullet.setJointMotorControl2(car,10,pybullet.VELOCITY_CONTROL,targetVelocity=1,force=10)
          c = pybullet.createConstraint(car,
                                       9,
                                       car,
                                       11,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=1, maxForce=10000)
  
          c = pybullet.createConstraint(car,
                                       10,
                                       car,
                                       13,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=-1, maxForce=10000)
  
          c = pybullet.createConstraint(car,
                                       9,
                                       car,
                                       13,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=-1, maxForce=10000)
  
          c = pybullet.createConstraint(car,
                                       16,
                                       car,
                                       18,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=1, maxForce=10000)
  
          c = pybullet.createConstraint(car,
                                       16,
                                       car,
                                       19,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=-1, maxForce=10000)
  
          c = pybullet.createConstraint(car,
                                       17,
                                       car,
                                       19,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=-1, maxForce=10000)
  
          c = pybullet.createConstraint(car,
                                       1,
                                       car,
                                       18,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=-1, gearAuxLink=15, maxForce=10000)
          c = pybullet.createConstraint(car,
                                       3,
                                       car,
                                       19,
                                       jointType=pybullet.JOINT_GEAR,
                                       jointAxis=[0, 1, 0],
                                       parentFramePosition=[0, 0, 0],
                                       childFramePosition=[0, 0, 0])
          pybullet.changeConstraint(c, gearRatio=-1, gearAuxLink=15, maxForce=10000)