
    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JrJr  SSK	r	SSK
r
SSKr\
R                   " S S\R                  5      5       rS	r " S
 S\R                  5      r\
R$                   " S S\5      5       r\
R                   " S S\R                  5      5       r\	R,                   " S S5      5       rg)z,The configuration parameters for our robots.    )absolute_import)division)print_functionN)SequenceUnionc                   (    \ rS rSrSrSrSrSrSrSr	g)	MotorControlMode   z"The supported motor control modes.)   )   )       N)
__name__
__module____qualname____firstlineno____doc__POSITIONTORQUEHYBRIDPWM__static_attributes__r       d/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/robot_config.pyr	   r	      s    *( &
 & 	
#r   r	      c                   (    \ rS rSrSrSrSrSrSrSr	g)	HybridActionIndex&   r   r   r   r   r   r   N)
r   r   r   r   r   POSITION_GAINVELOCITYVELOCITY_GAINr   r   r   r   r   r   r   &   s    (-(-&r   r   c                       \ rS rSrSr\" S5      \" S5      \" S5      \" S5      \" S5      \" S5      4S\\\\   4   S\\\\   4   S\\\\   4   S\\\\   4   S	\\\\   4   S
\\\\   4   4S jjrSr	g)MotorLimits/   z The data class for motor limits.z-infinfangle_lower_limitsangle_upper_limitsvelocity_lower_limitsvelocity_upper_limitstorque_lower_limitstorque_upper_limitsc                 L    Xl         X l        X0l        X@l        XPl        X`l        g)zInitializes the class.N)r'   r(   r)   r*   r+   r,   )selfr'   r(   r)   r*   r+   r,   s          r   __init__MotorLimits.__init__3   s(     10!6!622r   )r'   r(   r+   r,   r)   r*   N)
r   r   r   r   r   floatr   r   r/   r   r   r   r   r$   r$   /   s    ( ;@-:?,=B6]=B5\;@=;@<3x 673  x 673 #5(5/#9:	3
 #5(5/#9:3 !!783 !!783 3r   r$   c                   8    \ rS rSrSrSrSrSrSrSr	Sr
S	rS
rSrg)WheeledRobotControlModeE   z$The control mode for wheeled robots.r   r   r   r   r            r   N)r   r   r   r   r   BASEARMBASE_AND_ARMBASE_AND_HEADBODYALLNAVIGATION_TARGETADDRESSABLEr   r   r   r   r3   r3   E   s0    , 
$	#,-	
$	#+r   r3   c                   B    \ rS rSr% Sr\\S'   \\S'   \\S'   \\S'   Srg)	TwistActionLimits[   zThe data class for twist action limits.

Common abbreviations used in variable names suffix:
  mps = Meters per Second
  rps = Radians per Second
max_linear_mpsmin_linear_mpsmax_angular_rpsmin_angular_rpsr   N)r   r   r   r   r   r1   __annotations__r   r   r   r   rA   rA   [   s!     r   rA   )r   
__future__r   r   r   enumtypingr   r   dataclassesginnumpynpconstants_from_enumEnumr	   HYBRID_ACTION_DIMENSIONr   configurableobjectr$   r3   	dataclassrA   r   r   r   <module>rU      s    2 &  %  "  
  
tyy 
 
(  		  3& 3 3* dii  * 
 
 
r   