
    ni              
       2   S SK rS SKrS SKrS SKJr  S SKr\R                  " \R                  5      r\S :  a  \R                  " \R                  5        \R                  " \R                  " 5       5        \R                  " S/ SQ5        \R                  " \R                  S 5        \R                  " S/ SQ5      r\R                  " \R                  S5        \R                   " \/ SQ/ SQ5        S	r\R$                  " \5      r/ S
Qr\R*                  " S S S 5        Sr/ SQr/ SQrS rS rS r\R8                  " \5        Sr \(       a1  \R<                  " 5       r\R@                  S-  S-  \RB                  -  rO\S-   r\RD                  " S5        \#" S5       H  r$S\RJ                  " \5      -  S\RJ                  " \5      -  SS\RL                  " \5      -  -   /r'\RP                  " \\\'\\SS9r)\#" \5       H=  r$\RT                  " \\$5      r+\+S	   r,\,S:  d  M#  \RZ                  " \\$\)\,S-
     5        M?     M     \R\                  " \\5      r/\(       a3  \R`                  " \\'/ SQS\5        \R`                  " \\/S   / SQS\5        \'r\/S   rSrGMV  )    N)datetimez
plane.urdf)r   r   gz	pole.urdf)r   r   r      )r   r   r   r      )皙?r   r   r   g        g      N@g       @g{Gz?d   )jointDampingsolvermaxNumIterations   )r   r   g333333?   )r   r   r   )1pybulletptimemathr   pybullet_dataconnectSHARED_MEMORYclidGUIsetAdditionalSearchPathgetDataPathloadURDFconfigureDebugVisualizerCOV_ENABLE_RENDERINGsawyerIdresetBasePositionAndOrientationsawyerEndEffectorIndexgetNumJoints	numJointsjd
setGravitytprevPose	prevPose1hasPrevPoseikSolveruseRealTimeSimulationsetRealTimeSimulationtrailDurationnowdtsecondpisleeprangeicossinposcalculateInverseKinematics
jointPosesgetJointInfo	jointInfoqIndexresetJointStategetLinkStatelsaddUserDebugLine     c/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_examples/inverse_kinematics_pole.py<module>rA      sa       yy!1H))AEE   -335 6 

< &   1111 5::k9-   1111 5  ! !(I| D NN8$	 Q1 	    - . 	B	SB(A	DAJJt8aR$((1+-rB!4D/D
EC--h.D.1;=5=?BDJ 9..1-i|f	"	(Az&1*'=>	    	~~h 67"xk1mDy"Q%A}E(e)+= r?   