
    ni                     `   S SK rS SKrS SKr\R                  " \R
                  5        \R                  " \R                  " 5       5        \R                  " S S S5        \R                  " SS9  \R                  " S/ SQSS\R                  S	9  \R                  " S
/ SQS\R                  S9  \R                  " S/ SQS\R                  S9  \R                  " 5       (       aM  \R                  " 5         \R                  " 5       r\R                   " S5        \R                  " 5       (       a  ML  gg)    Ni   )	enableSATzcube_concave.urdf)r   r   i2   T)globalScalinguseFixedBaseflagsz	cube.urdf)r   r   r   )r   r   zduck_vhacd.urdf)r   r   r   gq?)pybulletptimepybullet_dataconnectGUIsetAdditionalSearchPathgetDataPath
setGravitysetPhysicsEngineParameterloadURDFURDF_INITIALIZE_SAT_FEATURESisConnectedstepSimulationgetContactPointsptssleep     X/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_examples/satCollision.py<module>r      s       		!%%    -335 6 Q3    a ( 

//1 

;	!:X:X Y 

iq@^@^ _}}	#**Y	 	}}r   