
    nip                     x   S SK rS SKJr  S SKr\R
                  " \R                  5      r\R                  " \R                  " 5       5        \R                  " \R                  5        \R                  " SSS/ SQ5        \R                  " S S S5        \R                  " S5      r\R                   " S	/ S
Q5      r\R                   " S/ SQSS9r\R&                  " SSSSSSSSSSSS9r\R*                  " \S/ SQ\S S9  \R                   " S/ SQ\R,                  S9r\R*                  " \S/ SQ\S S9  \R0                  " SS 9  \R2                  " S 5        \R4                  " 5       (       aQ  \R6                  " 5         \R8                  " S!S"5        \R                  " S S S5        \R4                  " 5       (       a  MP  gg)#    N)sleep   i\i)g333333?g?iz	uvmap.pngz
plane.urdf)r   r   r   z	cube.urdf)r   r      T)useMaximalCoordinatesztorus/torus_textured.objz	torus.vtk      iX  g{Gz?g~jtx?g      ?i   )
simFileNamemassuseNeoHookeanNeoHookeanMuNeoHookeanLambdaNeoHookeanDampingcollisionMarginuseSelfCollisionfrictionCoeffrepulsionStiffness)r   r   r   r   )	rgbaColortextureUniqueIdflagsztorus_deform.urdf)r   r   g?)r   g      ?)sparseSdfVoxelSizei@     )pybulletptimer   pybullet_dataconnectGUIphysicsClientsetAdditionalSearchPathgetDataPathresetSimulationRESET_USE_DEFORMABLE_WORLDresetDebugVisualizerCamera
setGravityloadTexturetexloadURDFplaneIdboxIdloadSoftBodybunnyIdchangeVisualShapeURDF_USE_SELF_COLLISIONbunny2setPhysicsEngineParametersetRealTimeSimulationisConnectedstepSimulationgetCameraImage     \/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_examples/deformable_torus.py<module>r9      s     		!%%    -335 6   !.. /   QtC 5 Q3 mmK 
**\8
,	

;E
..3UVhiz}  SV  lp  DI  ^_  qt  KN  O   GR9cQR S 
'!:S:S	T   FB)SPQ R   t 4    mmoo3s,,q3 mmoor7   