
    ni	                        S r SSKrSSKrSSKrSrSrSrSrSrSr	S	r
\R                  " \" \
\R                  S
-  \R                  S
-  /\	-  5      5      r\R                  " \" \
S5      5      r\R                  " \" \
S5      5      r/ SQrSr\
r\R                  " S\
445      r/ SQr/ SQr\R.                  " S\5        \R.                  " S\5        \R.                  " S\5        \R.                  " S\5        \R.                  " S\5        \R.                  " S\5        \R.                  " S\5        \R.                  " S\5        \R.                  " S\5        \R.                  " S\5        g)z<Defines the minitaur robot related constants and URDF specs.    Nz$quadruped/minitaur_rainbow_dash.urdf)r   r   g?)r   r      )r   r   r   r   )r   r   r      )motor_front_leftL_jointmotor_front_leftR_jointmotor_back_leftL_jointmotor_back_leftR_jointmotor_front_rightL_jointmotor_front_rightR_jointmotor_back_rightL_jointmotor_back_rightR_joint   )r   r   r   r   r   r   r   )r   r   r   r   r   r   r   r   )
front_left	back_leftfront_right
back_right)knee_front_rightR_jointknee_front_leftL_jointknee_back_rightR_jointknee_back_leftL_jointbody_motors)r   ;Onr?gI+?)r   r   g?z%minitaur_constants.MINITAUR_URDF_PATHz)minitaur_constants.MINITAUR_INIT_POSITIONz1minitaur_constants.MINITAUR_INIT_ORIENTATION_QUATz0minitaur_constants.MINITAUR_INIT_ORIENTATION_RPYz-minitaur_constants.MINITAUR_INIT_JOINT_ANGLESz,minitaur_constants.MINITAUR_JOINT_DIRECTIONSz)minitaur_constants.MINITAUR_JOINT_OFFSETSz'minitaur_constants.MINITAUR_MOTOR_NAMESz.minitaur_constants.MINITAUR_END_EFFECTOR_NAMESz'minitaur_constants.MINITAUR_MOTOR_GROUP)__doc__collectionsmathginMINITAUR_URDF_PATHINIT_POSITIONINIT_RACK_POSITIONINIT_ORIENTATION_QUATINIT_ORIENTATION_RPYNUM_LEGSJOINT_NAMESOrderedDictzippiINIT_JOINT_ANGLESJOINT_DIRECTIONSJOINT_OFFSETS	LEG_ORDEREND_EFFECTOR_NAMESMOTOR_NAMESMOTOR_GROUPKNEE_CONSTRAINT_POINT_LONGKNEE_CONSTRAINT_POINT_SHORTconstant     j/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/minitaur_constants.py<module>r4      s   B   
;  $   E
  ++dggk477Q;/(:;=  **124  ''-.0 E	  %%{'C&EF/ 0  46H I 8- H @"$ ?!# <>O P ;=M N 8- H 6 D =! 6 Dr2   