
    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SKJ	r	  SSK
Jr  SSKJr  \R                  rS	rS
r/ SQS-  r " S S\R&                  5      r\S:X  a  \R,                  " 5         gg)zTests for pybullet_envs.minitaur.robots.mini_cheetah.

blaze test -c opt
//robotics/reinforcement_learning/minitaur/robots:mini_cheetah_test
    )absolute_import)division)print_functionN)bullet_client)mini_cheetah)
googletesti  Mb`?)r   g333333gffffff?   c                        \ rS rSrS rS rSrg)MiniCheetahTest   c                     [         R                  " 5       nUR                  5         [        R                  " U[
        SS9nU R                  U5        g )NT)pybullet_client	time_stepon_rack)r   BulletClient
enable_cnsr   MiniCheetah	TIME_STEPassertIsNotNone)selfr   robots      i/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/mini_cheetah_test.py	test_initMiniCheetahTest.test_init   sB    #002O $$'9dLE    c                    [         R                  " 5       nUR                  5         UR                  5         UR	                  SS9  UR                  [        5        UR                  SSS5        [        R                  " USSSS9nUR                  S	[        S
S9  [        [        5       HK  nUR                  [        5        UR                  5       n[         R"                  R%                  U[        SS9  MM     g )N<   )numSolverIterationsr   i   r	   T)r   action_repeatr   r   Fg      ?)reload_urdfdefault_motor_angles
reset_time   )decimal)r   r   r   resetSimulationsetPhysicsEngineParametersetTimeStepr   
setGravityr   r   ResetINIT_MOTOR_ANGLESrange	NUM_STEPSStepGetMotorAnglesnptestingassert_array_almost_equal)r   r   r   _motor_angless        r   test_static_pose_on_rack(MiniCheetahTest.test_static_pose_on_rack    s    #002O ##%--"-E	*q!S) 	  +		 
 
KK.   9jj"#))+ljj**
)1 + 6 r    N)__name__
__module____qualname____firstlineno__r   r6   __static_attributes__r8   r   r   r   r      s     6r   r   __main__)__doc__
__future__r   r   r   mathnumpyr1   pybullet_envs.minitaur.envsr   pybullet_envs.minitaur.robotsr   google3.testing.pybaser   piPIr.   r   r,   TestCaser   r9   mainr8   r   r   <module>rJ      sn    '  %   5 6 -	WW		"Q& 6j)) 6D z// r   