
    ni                        S SK rS SKrS SKrS SKrS r\R                  " \R                  5      r\S :  a  \R                  " \R                  5        \R                  " \R                  " 5       5        \R                  " SS9  \R                  " S5        \R                  " \R                  S5      r\R"                  " SSS	9  \R$                  " \R&                  S 5        \R$                  " \R(                  S 5        \R$                  " \R*                  S 5        / S
Qr/ SQr/ SQr/ SQr\R4                  " \R6                  \R8                  // SQ/ SQ/SS/\\/\\/S9r\R<                  " \R6                  \R8                  // SQ/ SQ/SS/\\/\\/S9rSr Sr!\"" \ 5       Hc  r#\"" \!5       HT  r$\RJ                  " S/ SQ\\\ * S-  \#S-  -   \S    -  S-  \!* S-  \$-   \S   -  S-  S/SS9r&\RN                  " \&S/ SQS9  MV     Me     \R$                  " \R&                  S5        \RP                  " \5        \RR                  " S S S5        \RT                  " S5        / SQ/ SQ/ SQ/ SQ/r+S r,\RZ                  " SS\R\                  S 9   \R^                  " 5       r0\0 H  r1\1S    S:X  d  M  \1S!   S :X  d  M  \1S   \Rd                  -  (       d  M2  \1S   r3\1S   r4\" \3\45      u  r5r6\Rn                  " \5\65      r8\"" \9" \85      5       H?  r:\8\:   r;\;S    r<\<S :  d  M  \RN                  " \<S\+\,   S9  \,S-  r,\,\9" \+5      :  d  M=  S r,MA     M     M  )"    Nc                    [         R                  " 5       u  p#pEpgp  pnUS   XS   -  -
  US   XS   -  -
  US   XS   -  -
  /nSnUS   US   -
  US   US   -
  US   US   -
  /nUS-  [        R                  " US   US   -  US   US   -  -   US   US   -  -   5      -  nUUS   -  UUS   -  UUS   -  /nUn[	        S5      [	        U5      -  n[	        S5      [	        U5      -  nUS   U-  US   U-  US   U-  /nU	S   U-  U	S   U-  U	S   U-  /nUS   US   -   US   US   -   US   US   -   /nUS   US   -   SUS   -  -
  SU	S   -  -   [	        U 5      US   -  -   [	        U5      US   -  -
  US   US   -   SUS   -  -
  SU	S   -  -   [	        U 5      US   -  -   [	        U5      US   -  -
  US   US   -   SUS   -  -
  SU	S   -  -   [	        U 5      US   -  -   [	        U5      US   -  -
  /nUU4$ )Nr         i'  g      ?g      ?)pgetDebugVisualizerCameramathsqrtfloat)mouseXmouseYwidthheightviewMatprojMatcameraUp
camForwardhorizonvertical_dist	camTargetcamPosfarPlane
rayForwardinvLenrayFromoneOverWidthoneOverHeightdHordVerrayToCenterrayTos                           b/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_examples/createVisualShapeArray.pygetRayFromTor$      s   ded~d~ ea%8AqXa lTqM))9Q<$A:N+NlTqM))& (1q	)Yq\F1I-ESTX^_`XaIac*b=DIIjmjm&CjQRm&0mG4 '46@mjQRm6S'T U V&A&A(>TU@VW*'qE%L(,(U6]*-
!*|
#WQZ,%>
\@Y	Z$
1+
%x{]'BHQKR_D_	`$aj:a= '!*z!}"<gaj:VW=>X+ aj:a= 3#33cHQK6GG%PV-Z^_`ZaJaaFmd1g&qzJqM9C'!*<LLsU]^_U`O``Fmd1g  %fQ 7 89@jQRm9S	GAJ:x{*:+-26]T!W-D:EGLV}W[\]W^G^:_% 
%    
   )numSolverIterationsg?zvisualShapeBench.jsonzplane100.urdfT)useMaximalCoordinates)r   g{Gzr   )r   皙?r   )r   r   r   )r)   r)   r)   zduck.obj )
shapeTypeshalfExtents	fileNamesvisualFramePositions
meshScaleszduck_vhacd.obj)r+   r,   r-   collisionFramePositionsr/   r   r      F)baseMassbaseInertialFramePositionbaseCollisionShapeIndexbaseVisualShapeIndexbasePositionr(   )r   r   r   r   )	rgbaColori)r   r   r   r   )r   r   r   r   )r   r   r   r   @   )renderer   )=pybulletr   timer   pybullet_datar$   connectSHARED_MEMORYcidGUIsetAdditionalSearchPathgetDataPathsetPhysicsEngineParametersetTimeStepstartStateLoggingSTATE_LOGGING_PROFILE_TIMINGSlogIdloadURDFconfigureDebugVisualizerCOV_ENABLE_RENDERINGCOV_ENABLE_GUICOV_ENABLE_TINY_RENDERERshiftshift1shift2	meshScalecreateVisualShapeArray	GEOM_MESHGEOM_BOXvisualShapeIdcreateCollisionShapeArraycollisionShapeIdrangexrangeyrangeijcreateMultiBodymbchangeVisualShapestopStateLogging
setGravitysetRealTimeSimulationcolorscurrentColorgetCameraImageER_BULLET_HARDWARE_OPENGLgetMouseEventsmouseEventseKEY_WAS_TRIGGEREDr   r   r   r"   rayTestrayInfolenlhit	objectUid r%   r#   <module>rs      sd      : ii !G))AEE   -335 6    3 i 	A;;=TU 

?$ 7   1111 5   1++Q /   155q 9			((Q[[!**4M6?5Q4>3C-3-3?+ 6?	4JL ..1;;

:S<E;W:JB9O3939H1 <Ei:PR  
	
	vA=a	
		A5>3C0=,27Q;!a%*?9Q<)ORS)S+1'A+/Yq\)IA)Mq)R16
8B B,7  
   1111 5   5  Q3     
lL	A   R!"="= >  "+a	
1110C0C)C)Ctftf#FF3ngu		'5)gS\"!ajF	N


ivl7K
L
!
,c&k)L #  	r%   