
    ni2                     t
   S SK rS SKrS SKrS SKr\R                  " \R                  5        \R                  " \R                  " 5       5        \R                  " S5      r\R                  " S/ SQ5      rS r\R                  " 5       u  rrrrrrrrrrrr\S    \\S    -  -
  \S   \\S   -  -
  \S   \\S   -  -
  /rSr\S    \S    -
  \S   \S   -
  \S   \S   -
  /r\R:                  " \S    \S    -  \S   \S   -  -   \S   \S   -  -   5      r\" S5      \" \5      -  r \" S5      \" \5      -  r!\S    \ -  \S   \ -  \S   \ -  /r"\S    \!-  \S   \!-  \S   \!-  /r#\R:                  " \"S    \"S    -  \"S   \"S   -  -   \"S   \"S   -  -   5      r$\R:                  " \#S    \#S    -  \#S   \#S   -  -   \#S   \#S   -  -   5      r%S \\S /r&S S \\/r'/ r(\)" \S	-  5      r*\)" \S	-  5      r+\RX                  " \*\+\RZ                  S
9r.\.S   r/\.S   r0\1" S\/Rd                  5        \1" S\0Rd                  5        \Rf                  " \Rh                  S 5        \Rf                  " \Rj                  S 5        \Rf                  " \Rl                  S 5        \Rn                  " \Rp                  / SQSS9r9Sr:\;" S	5       H  r<\&\<   r=\'\<   r>\" \=\>5      u  r?r@r\R                  " \?5      rB\R                  " \@5      rC\C\B-
  rD\R:                  " \R                  " \D\D5      5      rFS\F-  \D-  \B-   rG\R                  " \?\G/ SQ5        \(R                  \G5        M     S rJSrKSrL\;" S \*\K5       GH$  r=\;" S \+\L5       GH  r>\JS-  rJ\JS-  S :X  a  \1" \JS\*\+-  \K\L-  -  5        \" \=\\*-  -  \>\\+-  -  5      u  r?r@rM\R                  " \?5      rB\R                  " \@5      rC\C\B-
  rD\R:                  " \R                  " \D\D5      5      rF\" \0\>\=4   5      rNSrOSrP\O\P-  \O\O\P-
  \N-  -
  -  rQ\Q\R                  " \M5      -  rQ\Q\F-  \D-  \B-   rG\R                  " S \:\9\GSS9rT\/\>\=4   rU\US    S-  \US   S-  \US   S-  S/rU\R                  " \TS\US9  GM     GM'     \R                  " \(S    \(S   / SQ5        \R                  " \(S   \(S   / SQ5        \R                  " \(S   \(S   / SQ5        \R                  " \(S   \(S    / SQ5        \Rf                  " \Rh                  S5        \1" S5         \R                  " S S S5        M  )    Nzplane100.urdfz	cube.urdf)r   r      c                    [         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[        R                  " US   US   -  US   US   -  -   US   US   -  -   5      nUS-  U-  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SUS   -  SU	S   -  -   [	        U 5      US   -  -   [	        U5      US   -  -
  SUS   -  SU	S   -  -   [	        U 5      US   -  -   [	        U5      US   -  -
  SUS   -  SU	S   -  -   [	        U 5      US   -  -   [	        U5      US   -  -
  /nUS   US   -   US   -   US   US   -   US   -   US   US   -   US   -   /n[        R                  " US   US   -  US   US   -  -   US   US   -  -   5      n[        R
                  " UU-  5      nUUU4$ )Nr   r      '  g      ?g      g      ?)pgetDebugVisualizerCameramathsqrtfloatatan)mouseXmouseYwidthheightviewMatprojMatcameraUp
camForwardhorizonvertical_dist	camTargetcamPosfarPlane
rayForwardlenFwdinvLenrayFromoneOverWidthoneOverHeightdHordVerrayToCenterorthorayTolenOrthoalphas                               e/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_examples/pointCloudFromCameraImage.pygetRayFromTor*      sM   ded~d~ ea%8AqXa lTqM))9Q<$A:N+NlTqM))& (1q	)Yq\F1I-ESTX^_`XaIac*99Z]Z]2Z]ZPQ]5RR]Z]23 4&b=6!&A&A(>TU@VW*'qE%L(,(U6]*-
!*|
#WQZ,%>
\@Y	Z$
1+
%x{]'BHQKR_D_	`$aj:a= '!*z!}"<gaj:VW=>X+ WQZ#++eFmd1g.EEfX\]^X_H__
WQZ#++eFmd1g.EEfX\]^X_H__
WQZ#++eFmd1g.EEfX\]^X_H__% aj:a= 58+WQZ*Q--G%PQ(-Raj:a= 58+% YYuQx%(*U1Xa-@@58eTUhCVVW(
))Hx'
(%	%	    r   r   r      )renderer   zrgbBuffer.shape=zdepthBuffer.shape=)r   r   r   r   gQ?)	shapeType	rgbaColorradiusg{Gz?)r   r   r      d   zout of g     @@T)baseMassbaseCollisionShapeIndexbaseVisualShapeIndexbasePositionuseMaximalCoordinatesg     o@)r0   zready
i)Xpybulletr   r	   numpynppybullet_dataconnectGUIsetAdditionalSearchPathgetDataPathloadURDFplanecuber*   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r
   r   r   r    r!   r"   r#   lendHorlendVercornersXcornersY	corners3DintimgWimgHgetCameraImageER_BULLET_HARDWARE_OPENGLimg	rgbBufferdepthBufferprintshapeconfigureDebugVisualizerCOV_ENABLE_RENDERINGCOV_ENABLE_GUICOV_ENABLE_TINY_RENDERERcreateVisualShapeGEOM_SPHEREvisualShapeIdcollisionShapeIdrangeiwhr   r&   arrayrfrtvecdotlnewToaddUserDebugLineappendcountstepXstepYr(   depthImgfarneardepthcoscreateMultiBodymbcolorchangeVisualShape
setGravity r+   r)   <module>rw      s       		!%%    -335 6	

?#zz+y)"J cdb|b| c _vw:w!QPTV_ aL4*Q-''1z!}8L)LaL4*Q-''
 |fQi'9Q<&)+CyQR|V\]^V_G_a
	:a=:a=0:a=:a=3PPa=:a=01 
2Qx%,&a5=(
\!71:#<gaj<>WXm#Xa[=%@(1+P]B]^
))DGd1g%Q$q'(99DGd1g<MM
N
))DGd1g%Q$q'(99DGd1g<MM
NueQq&&!	
519~
6A:tTA,G,GHF	!f )// * K-- .   1111 5   1++Q /   155q 9##amm|\`a 	qAqk!qk!"1a('5!	xx"	xx"
R#ggbffS#!!8s
R
% WeY/5 
 	
			q$	AD% a	QJE	E9dTkUU];<(edl);Q&4-=PQGUE	'	B	%B
r'C
sC !A[A&'H
CD$J#tx 778E	TXXe_EQY#"E	
		A3C0=(-15	
7B
 adOE1X_eAhouQx$BEB%0/ ! 
2   9Q<1y 9   9Q<1y 9   9Q<1y 9   9Q<1y 9   1111 5 i  	,,q!S 	r+   