
    ni              	          S r SSKrSSKrSrSrSrSrSrSrS	r	Sr
S
rSr\R                  " \" \	S\
\\4\-  -   5      5      r\R                  " \" \	S5      5      rSrSrSr\R                  " \" \	/ SQ\\\/\-  -   5      5      rSrSrSr\	r\R                  " S\	SS 445      r\R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        \R4                  " S\5        g) zDDefines the LaikagoKinematic robot related constants and URDF specs.    Nzarobotics/reinforcement_learning/minitaur/robots/data/urdf/laikago/laikago_toes_zup_kinematic.urdf)r   r   g      ?)r   r   r      )r   r   r      )kinematic_drive_joint_th)kinematic_drive_joint_xkinematic_drive_joint_yr   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   r   r   r   g        g333333gQ?)front_right
front_left
rear_right	rear_left)r   r   
back_right	back_left)jtoeFRjtoeFLjtoeRRjtoeRLbody_motors   z7laikago_kinematic_constants.LAIKAGO_KINEMATIC_URDF_PATHz)laikago_kinematic_constants.INIT_POSITIONz1laikago_kinematic_constants.INIT_ORIENTATION_QUATz0laikago_kinematic_constants.INIT_ORIENTATION_RPYz&laikago_kinematic_constants.BASE_NAMESz-laikago_kinematic_constants.INIT_JOINT_ANGLESz,laikago_kinematic_constants.JOINT_DIRECTIONSz)laikago_kinematic_constants.JOINT_OFFSETSz'laikago_kinematic_constants.MOTOR_NAMESz.laikago_kinematic_constants.END_EFFECTOR_NAMESz'laikago_kinematic_constants.MOTOR_GROUP)__doc__collectionsginLAIKAGO_KINEMATIC_URDF_PATHINIT_POSITIONINIT_ORIENTATION_QUATINIT_ORIENTATION_RPYNUM_LEGS
BASE_NAMES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constant     s/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py<module>r?      s   J  
 B $    +
0    ++Y	~?(JK LM 
 **DEG      ''Y	13DE	 
		  %%{12'G&IJ F(* 8- H @"$ ?!# 5z B <>O P ;=M N 8- H 6 D =! 6 Dr=   