
    niO              	       X   S SK rS SKrS SKr\R
                  " \R                  5        \R                  " S S S5        \R                  " \R                  " 5       5        \R                  " S5      r/ SQr\R                  " S\5      r\R                  " \5      r\R                   " \S/ SQS9  \" \5       H9  r\R                   " \\/ SQS9  S	rS r\R*                  " \\\R,                  \\S
9  M;     Sr\R0                  " \5         \R2                  " 5         \R4                  " \5        M%  )    Ng#z
plane.urdf)r   r   g      ?zmini_cheetah/mini_cheetah.urdf)   r   r   r   )	rgbaColor   )forcegq?)pybulletppybullet_datapdtimeconnectGUI
setGravitysetAdditionalSearchPathgetDataPathloadURDFfloorstartPosrobotgetNumJoints	numJointschangeVisualShaperangejr   possetJointMotorControl2POSITION_CONTROLdtsetTimeStepstepSimulationsleep     b/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/examples/mini_cheetah_test.py<module>r%      s       		!%%  Qq    "..* +	

< 	

3H=NN5!	   E"y 1			AU1y1
q!3!3CeD	 

  b **R. 	r#   