niSrSSKrSSKJrJrJrJr SSKJr SSK r SSK J r SSK J r SSK J r SSK Jr \ R"S S \ R 55rg) z&Pybullet simulation of Minitaur robot.N)DictTupleUnionText)logging)minitaur_constants)quadruped_base) robot_config)robot_urdf_loadercX\rSrSrSrSrSrS S\\\ \ \ \ 44S\ 4Sjjr S rg) Minitaurz&Minitaur simulation model in pyBullet.c[R"S5nU(a[R"S5 [ R "URS[R[R[R[R[R[R[R[R [R"[R$S9 Ulg![a SnNf=f)Nz2robot_urdf_loader.RobotUrdfLoader.constrained_baseFzQuse_constrained_base is currently not compatible with Minitaur's leg constraints.T) pybullet_clientenable_self_collision urdf_pathinit_base_position init_base_orientation_quaternioninit_base_orientation_rpyinit_joint_angles joint_offsetsjoint_directions motor_namesend_effector_names user_group)ginquery_parameter ValueErrorrwarnr RobotUrdfLoader_pybullet_clientrMINITAUR_URDF_PATH INIT_POSITIONINIT_ORIENTATION_QUATINIT_ORIENTATION_RPYINIT_JOINT_ANGLES JOINT_OFFSETSJOINT_DIRECTIONS MOTOR_NAMESEND_EFFECTOR_NAMES MOTOR_GROUP _urdf_loader)selfuse_constrained_bases c/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/minitaur_v2.py _pre_loadMinitaur._pre_loads# 00 >@ ll  *99--"$77-;;);  "4"I"I,>>(66+<<&22-@@%11D #"#sC00 C?>C?c [RS- nSn[[R5GHup4UR R URRURSU-S-URSU-U-SS9 UR R URRURSU-S-URSU-U-SS9 UR R URRURSU-S -URSU-S -U-SS9 UR R URRURSU-S -URSU-S -U-SS9 US:aUR RURRURSU-S -URRURSU-S-UR R/S Q[R[R5 GMUR RURRURSU-S -URRURSU-S-UR R/S Q[R[R5 GM UR5 g ) zEAdd hinge constraint for Minitaur's diamond shaped leg after loading.g@gPkwmotor_L_jointr)targetVelocityknee_R_joint)rrrN)mathpi enumerater LEG_ORDERr!resetJointStater,robot_id_joint_id_dict_motor_directionscreateConstraintJOINT_POINT2POINTKNEE_CONSTRAINT_POINT_SHORTKNEE_CONSTRAINT_POINT_LONGreceive_observation)r-half_pi knee_angleleg_id leg_positions r/_on_loadMinitaur._on_load/sggmGJ"+,>,H,H"I ++    $ $   h5 A B  V ,w 6 ,  ++    $ $   g 4y@ A  V ,z 9 ,  ++    $ $   h5 A B  Va 07 : ,  ++    $ $   g 4y@ A  Va 0: = , ! ..    & &   , 6 B C    & &   , 6 B C  ! ! 3 3Y  : :  9 9 ; ..    & &   , 6 B C    & &   , 6 B C  ! ! 3 3Y  9 9  : : rnsM, ++ <86;j!~++j!j!rM