
    ni              	       ~   S r SSKJr  SSKJr  SSKJr  SSKrSSKrSrSrSr	S	r
/ S
Qr/ SQr/ SQrSrSrSrSr\R$                  " \" \\\\4\	-  5      5      r\R$                  " \" \S5      5      rSrSrSr\R$                  " \" \\\\/\	-  5      5      rSrSrSr\r\R$                  " \S   \SS	 4\S   \S	S 4\S   \SS 4\S	   \SS 445      rSr\R$                  " \S   S4\S   S4\S   S4\S	   S445      r \RB                  " S \5        \RB                  " S!\5        \RB                  " S"\5        \RB                  " S#\5        \RB                  " S$\5        \RB                  " S%\5        \RB                  " S&\5        \RB                  " S'\5        \RB                  " S(\5        \RB                  " S)\5        g)*z;Defines the laikago robot related constants and URDF specs.    )absolute_import)division)print_functionNzlaikago/laikago_toes_zup.urdf         )r   r      )r   r   gQ?)r   r   r   r	   )FR_hip_motor_2_chassis_jointFR_upper_leg_2_hip_motor_jointFR_lower_leg_2_upper_leg_jointFL_hip_motor_2_chassis_jointFL_upper_leg_2_hip_motor_jointFL_lower_leg_2_upper_leg_jointRR_hip_motor_2_chassis_jointRR_upper_leg_2_hip_motor_jointRR_lower_leg_2_upper_leg_jointRL_hip_motor_2_chassis_jointRL_upper_leg_2_hip_motor_jointRL_lower_leg_2_upper_leg_jointgq=
ףp?g      )r	   r	   r	   r	   r	   r   r	   r	   r	   r	   r	   g        g333333gQ?)front_right
front_left
rear_right	rear_left)r   r   
back_right	back_left)jtoeFRjtoeFLjtoeRRjtoeRLr	         	   gQ?)zG?%䃞r   )r$   %䃞?r   )zGʿr%   r   )r'   r&   r   z$laikago_constants.LAIKAGO_NUM_MOTORSz#laikago_constants.LAIKAGO_URDF_PATHz'laikago_constants.LAIKAGO_INIT_POSITIONz*laikago_constants.LAIKAGO_INIT_ORIENTATIONz+laikago_constants.LAIKAGO_INIT_JOINT_ANGLESz*laikago_constants.LAIKAGO_JOINT_DIRECTIONSz'laikago_constants.LAIKAGO_JOINT_OFFSETSz%laikago_constants.LAIKAGO_MOTOR_NAMESz,laikago_constants.LAIKAGO_END_EFFECTOR_NAMESz%laikago_constants.LAIKAGO_MOTOR_GROUP)"__doc__
__future__r   r   r   collectionsgin	URDF_PATH
NUM_MOTORSNUM_LEGSMOTORS_PER_LEGINIT_RACK_POSITIONINIT_POSITIONINIT_ORIENTATIONJOINT_NAMESINIT_ABDUCTION_ANGLEINIT_HIP_ANGLEINIT_KNEE_ANGLEOrderedDictzipINIT_JOINT_ANGLESJOINT_DIRECTIONSHIP_JOINT_OFFSETUPPER_LEG_JOINT_OFFSETKNEE_JOINT_OFFSETJOINT_OFFSETS	LEG_NAMES	LEG_ORDEREND_EFFECTOR_NAMESMOTOR_NAMESMOTOR_GROUPMAX_MOTOR_ANGLE_CHANGE_PER_STEPHIP_POSITIONSconstant     i/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/laikago_constants.py<module>rJ      sT   A &  %  
+	
    &    ++	~?(JLM 
 **;<>      ''	13DE	
		  %%q\;q#$q\;q#$q\;q#$q\;q$%	'  #'  ''q\%&q\$%q\&'q\%&	)  3Z @ 2I > 6 F 9;K L :<M N 9;K L 6 F 4k B ;=O P 4k BrH   