
    ni                         S SK rS SKJr  \R                  " \R
                  5      rS SKr\R                  " \R                  " 5       5        \R                  " \R                  5        Sr\R                  " S S \5        / SQr\R                  " S/ SQSS9r\R"                  " S	/ S
QSSS SSSSSS SSS9r\R&                  " \S\R(                  S9  \R*                  " \SSS5        \R*                  " \SSS5        \R*                  " \S\S/ SQ5        \R*                  " \S\S/ SQ5        \R,                  " SS9  Sr\(       a  \R0                  " \S\R2                  S9r\" S5        \" S\5        \" \S    5        \" \S   5        / r\" \S    5       H6  r\S   \   r\R@                  " \!" \5      \/ SQS9r"\RG                  \"5        M8     \RH                  " 5       (       a  \RJ                  " SS 5        \(       aT  \R0                  " \S\R2                  S9r\" \S    5       H)  r\S   \   r\R@                  " \!" \5      \/ SQ\\   S!9r"M+     \R                  " S S \5        \RL                  " 5         \RH                  " 5       (       a  M  gg)"    N)sleepi)r   r   r      z	cube.urdf)r   r      T)useMaximalCoordinateszcloth_z_up.obj)r   r   r         ?g      ?r   (   g?)basePositionscalemassuseNeoHookeanuseBendingSpringsuseMassSpringspringElasticStiffnessspringDampingStiffnessspringDampingAllDirectionsuseSelfCollisionfrictionCoeffuseFaceContact)flags         )r         r      )r   r   r   g      ?)sparseSdfVoxelSizez--------------zdata=)r   r   r   )textColorRGBi@     )r   replaceItemUniqueId)'pybulletptimer   connectGUIphysicsClientpybullet_datasetAdditionalSearchPathgetDataPathresetSimulationRESET_USE_DEFORMABLE_WORLDgravZ
setGravityplaneOrnloadURDFboxIdloadSoftBodyclothIdchangeVisualShapeVISUAL_SHAPE_DOUBLE_SIDEDcreateSoftBodyAnchorsetPhysicsEngineParameterdebuggetMeshDataMESH_DATA_SIMULATION_MESHdataprinttext_uidrangeiposaddUserDebugTextstruidappendisConnectedgetCameraImagestepSimulation     ]/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_examples/deformable_anchor.py<module>rI      s}    		!%%     -335 6   !.. /	 Q5  	


;E
..)'3WYkl  AB  QR  km  FH  gh  }~  PR  cd  e   GRq'B'B C   wBr *   w2b )   w5\ :   w5] ;   t 4	
w!*E*E	F$Q.Q.(a>aGAJcs1vsAcooc 
 mmoo3s
=="A,G,GHD47^GAJcs1vsV^_`Vabc  ,,q5 mmoorG   