
    ni                     l	   S SK rS SKrS SKr\R
                  " \R                  5        \R                  " \R                  " 5       5        \R                  " S S9  \R                  " S5      r\R                  " S S S5        \R                  " S5        \R                  r\R                  " S/ SQ/ SQ\S	S
9r\" \R$                  " \5      5       H  r\" \R*                  " \\5      5        M     / SQr\ Hb  r\ HY  r\\:  d  M  Sr\" S\\\R*                  " \\5      S   \R*                  " \\5      S   S\5        \R4                  " \\SS\5        M[     Md     / r/ r/ r/ SQr/ SQr\" S5       H6  r \RC                  S 5        \RC                  S5        \RC                  S5        M8     \RD                  " SS SS5      r#\" \R$                  " \5      5       Hf  r\RH                  " \\S S S9  \R*                  " \\5      r%\%S   r&\%S   r'\'\RP                  :X  d  \'\RR                  :X  d  MU  \RC                  \5        Mh     \RT                  " SS5        \RV                  " S 5        / r,\-" \R                  " 5       S-   S5       r.\. H  r/\" S\/5        \R`                  " \#5      r1\/Re                  S 5      r3\3S    r4\3S   r5\3SS! r,\" S5       H;  r\6" \,\   5      r7\Rp                  " \\\   \Rr                  \\   \7-  \\   -   \1S"9  M=     \Rt                  " 5         \ H  r;\Rx                  " \S#\;5      r=M     \R|                  " S5        M     SSS5        S r?\" \R$                  " \5      5       H  r\RH                  " \\S S S9  \R*                  " \\5      r%\R                  " \\5      rA\%S   r&\%S   r'\'\RP                  :X  d  \'\RR                  :X  d  Mh  \RC                  \RD                  " \&R                  S$5      S%S\AS    \\?   -
  \\?   -  5      5        \?S-   r?M     \RV                  " S5         \" \C" \5      5       HY  r \\    rD\R`                  " \D5      r7\R`                  " \#5      r1\Rp                  " \\\    \Rr                  \\    \7-  \\    -   \1S"9  M[     Mm  ! , (       d  f       GN\= f)&    N)enableConeFrictionz
plane.urdfg#gMb`?zlaikago/laikago_toes.urdf)r   r         ?)r   r   r   r   F)flagsuseFixedBase)               zcollision for pair   zenabled=r   r   )r   r   r   r   r   r   r   r   r   r   r   )r   r   r   r   r   r   r   r   r   r   r   r      gffffffgffffff?maxForced      )linearDampingangularDampingi  i@  z/laikago/data1.txtrzline=,   )forcer   zutf-8)Epybulletppybullet_datapdtimeconnectGUIsetAdditionalSearchPathgetDataPathsetPhysicsEngineParameterloadURDFplane
setGravitysetTimeStepURDF_USE_SELF_COLLISION	urdfFlags	quadrupedrangegetNumJointsjprintgetJointInfo
lower_legsl0l1enableCollisionsetCollisionFilterPairjointIdsparamIdsjointOffsetsjointDirectionsjointAnglesiappendaddUserDebugParameter
maxForceIdchangeDynamicsinfo	jointName	jointTypeJOINT_PRISMATICJOINT_REVOLUTEgetCameraImagesetRealTimeSimulationjointsopen
filestreamlinereadUserDebugParameterr   splitcurrentlineframetfloat	targetPossetJointMotorControl2POSITION_CONTROLstepSimulation	lower_leggetContactPointsptssleepindexgetJointStatejsdecodelenc     Y/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_robots/laikago/laikago.py<module>r`      s      		!%%    "..* +   q 1	

<  Q4  h  %%	JJ2J@P&$)+	 
q~~i(	)Ay!$% 
* 

Bb
Ro "bNN9b)"-NN9b)"-z?L y)Q?K   82	qAadc 

 $$ZC<
	q~~i(	)A9aqC	
	1	%$1g)1g)1$$$	Q5E5E(EOOA 
*   c     		"..
1
137:d	'4''
3H**S/K NEAA2F2Yq	"ii&qk00-a09<|AN$,	.  	y"i8c   	JJy3  88 	
	q~~i(	)A9aqC	
	1	%$y!$"1g)1g)1$$$	Q5E5E(EOOA++I,<,<W,Er1!#Ae)<!<PU@V VX Y!GE 
*    XaA((+I''
3HI$QK..+A.:\!_L"*	,	   	Y 87s   CR$$
R3