
    ni                        S SK rS SKrS SKr\R                  " \R
                  5      r\S :  a  \R                  " \R                  5        \R                  " \R                  " 5       5        \R                  " 5         \R                  " SSSSSSSS5      /r\R                  " SSSSSSSS5      /r\R                  " SSSS	S
S
SS5      /r\S    r\" S5        \" \5        / SQr\" \R"                  " \5      5       H  r\R&                  " \\\\   5        M     \R(                  " \SSS\R*                  / SQ/ SQ/ SQ5      r\" S5        \" \5        \R                  " SSSSSSSS5      /r\S    r/ SQr\" \R"                  " \5      5       H=  r\R&                  " \\\\   5        \R0                  " \\\R2                  \\   S 5        M?     \R                  " SSSS	SSSS5      /r\R                  " SSSSSSSS5      /r\R                  " SSSSSSSS5      /r\R4                  " S5      r\S    r\" S5        \" \5        \R8                  " \/ SQ/ SQ5        / SQr\" \R"                  " \5      5       H=  r\R&                  " \\\\   5        \R0                  " \\\R2                  \\   S 5        M?     \R(                  " \S \S \R*                  / SQ/ S!Q/ SQ5      r\R                  " S"S#S$S%SS&SS&5      /r\R                  " S"S'S$S%SS&SS&5      /r\R                  " S"S(S$S%SS&SS&5      /r\R                  " S"SS$S%SS&SS&5      /r\R                  " S"SS$S%SS&SS&5      /r\R                  " S"SS$S%SS&SS&5      /r\R                  " S)SSSSSS&S&5      /r\R                  " S*S+S,S	SSS&S&5      /r\R                  " S-S.S/S	SSS&S&5      /r\R                  " S0S1S2S	SSS&S&5      /r\R                  " S3S1S2SSSS&S&5      /r\R4                  " S45      r\S    r\R8                  " \/ S5Q/ S6Q5        \R                  " S*S/SS1SSSS5      /r\R                  " S0S/S7S8S9S
S
S:5      /r\R                  " S-S;SS1SSSS5      /r\R                  " S<S=SSSSSS5      /r\S    rS/r\" \R"                  " \5      5       H  r\R&                  " \\\\   5        M     \R                  " S>S?S@SSSSS5      /r\S    r/ SAQr\" \R"                  " \5      5       H  r\R&                  " \\\\   5        M     \R>                  " SSS5        \R>                  " S S SB5        \R@                  " SC5        \R                  " 5       r!SDr"\R                  " 5       \!\"-   :  a.  \R>                  " S S SB5        \R                  " 5       \!\"-   :  a  M.  \RF                  " 5         g)E    Nz
plane.urdf              ?zsamurai.urdfzpr2_gripper.urdf      ?D]L3?ffffff?       g!>@ zpr2_gripper=)g% &B?r   g!Fʖ?r   )r   r   r   )g?r   r   )r   r   r   pr2_cidzkuka_iiwa/model_vr_limits.urdfgffffff?皙ɿg333333?)r   r   r   gX<!?r   g-!lgư>zlego/lego.urdfg?g?z1gripper/wsg50_one_motor_gripper_new_free_base.sdfzkuka gripper=)gzM?r   g)% ?)r   g8Mp?ggHmп)r   g,	PSˆg) lʿgm 6 B?g[zr   g+MJAr      )r   r   g?zjenga/jenga.urdfg?gffffffg      ?g۞?g333333?g?ztable/table.urdfzteddy_vhacd.urdfg?g      zcube_small.urdfgffffff?gzsphere_small.urdfg333333?gٿzduck_vhacd.urdfzkiva_shelf/model.sdf)r   r   gʡE?)r   r   r   r   g{/h?g~?gDXoC?gK?g333333?ztable_square/table_square.urdfg      zhusky/husky.urdfg       @g      )
r   r   r   r   r   r   r   r   r   r   i   <   )$pybulletptimepybullet_dataconnectSHARED_MEMORYcidGUIsetAdditionalSearchPathgetDataPathresetSimulationloadURDFobjectspr2_gripperprintjointPositionsrangegetNumJoints
jointIndexresetJointStatecreateConstraintJOINT_FIXEDr
   kukasetJointMotorControl2POSITION_CONTROLloadSDFkuka_gripperresetBasePositionAndOrientationkuka_cidob
setGravitysetRealTimeSimulationref_timerunning_time
disconnect     [/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/examples/kuka_setup.py<module>r5      s      ii !G))AEE   -335 6     JJ|Xx8XxYab JJ~x8XxQY
 JJ!8XxIW` aj n  k 9{34JK^J-GH 5 

["b"ammYP[;= i  g JJ/9hPXZb# qzZt,-JD*nZ&@A$
A,>,>z@Z\]^ .
 JJ9h(T\
 JJ9h(T\
 JJ9h(T\ ))G
Hqz o  l   ! !,0O"MO |45JL*nZ.HI,
A4F4FWaHb 6
 dA|QyR^') JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ (Ix8U]
 JJ"Hi8XW_
 JJ (Ix8U] ))*
+QZ  ! !"&D"JL JJ!9h(HV^
 JJ"Ix8YXa
 JJ (Hh(T\
 JJ/HhPXZb# QZr*+JB
N:$>? , JJ!8Y(HV^ QZ r*+JB
N:$>? , Xx * Q3     99;yy{X,,,,q!S yy{X,, r3   