
    ni                        S SK rS SKrS SKr\R                  " \R
                  5      r\S :  a  \R                  " \R                  5        \R                  " \R                  " 5       5        \R                  " 5         \R                  " \R                  S 5        \R                  " SSSSSSSS5      /r\R                  " SSSSSSSS5      /r\R                  " SSSS	S
S
SS5      /r\S    r\" S5        \" \5        / SQr\" \R&                  " \5      5       H  r\R*                  " \\\\   5        M     \R,                  " \SSS\R.                  / SQ/ SQ/ SQ5      r\" S5        \" \5        \R                  " SSSSSSSS5      /r\S    r/ SQr\" \R&                  " \5      5       H=  r\R*                  " \\\\   5        \R4                  " \\\R6                  \\   S 5        M?     \R                  " SSSS	SSSS5      /r\R                  " SSSSSSSS5      /r\R                  " SSSSSSSS5      /r\R8                  " S5      r\S    r\" S5        \" \5        \R<                  " \/ SQ/ SQ5        / SQr\" \R&                  " \5      5       H=  r\R*                  " \\\\   5        \R4                  " \\\R6                  \\   S 5        M?     \R,                  " \S \S \R.                  / SQ/ S!Q/ SQ5      r\R,                  " \S"\S \R@                  / S#Q/ SQ/ SQS$9r!\RD                  " \!SSS S%S&9  \R                  " S'S(S)S*SS+SS+5      /r\R                  " S'S,S)S*SS+SS+5      /r\R                  " S'S-S)S*SS+SS+5      /r\R                  " S'SS)S*SS+SS+5      /r\R                  " S'SS)S*SS+SS+5      /r\R                  " S'SS)S*SS+SS+5      /r\R                  " S.SSSSSS+S+5      /r\R                  " S/S0S1S	SSS+S+5      /r\R                  " S2S3S4S	SSS+S+5      /r\R                  " S5S6S7S	SSS+S+5      /r\R                  " S8S6S7SSSS+S+5      /r\R8                  " S95      r\S    r#\R<                  " \#/ S:Q/ S;Q5        \R                  " S/S4SS6SSSS5      /r\R                  " S5S4S<S=S>S
S
S?5      /r\R                  " S2S@SS6SSSS5      /r\R                  " SASBSSSSSS5      /r\S    r#S/r\" \R&                  " \#5      5       H  r\R*                  " \#\\\   5        M     \R                  " SCSDSESSSSS5      /r\S    r#/ SFQr\" \R&                  " \#5      5       H  r\R*                  " \#\\\   5        M     \R                  " \R                  SG5        \RH                  " SSS5        \RH                  " S S SH5        \RJ                  " SG5         \RH                  " S S SH5        M  )I    Nz
plane.urdf              ?zsamurai.urdfzpr2_gripper.urdf      ?D]L3?ffffff?       g!>@ zpr2_gripper=)g% &B?r   g!Fʖ?r   )r   r   r   )g?r   r   )r   r   r   pr2_cidzkuka_iiwa/model_vr_limits.urdfgffffff?皙ɿg333333?)r   r   r   gX<!?r   g-!lgư>zlego/lego.urdfg?g?z1gripper/wsg50_one_motor_gripper_new_free_base.sdfzkuka gripper=)gzM?r   g)% ?)r   g8Mp?ggHmп)r   g,	PSˆg) lʿgm 6 B?g[zr   g+MJAr      )r   r   g?   )   r   r   )	jointType	jointAxisparentFramePositionchildFramePositiond   )	gearRatioerprelativePositionTargetmaxForcezjenga/jenga.urdfg?gffffffg      ?g۞?g333333?g?ztable/table.urdfzteddy_vhacd.urdfg?g      zcube_small.urdfgffffff?gzsphere_small.urdfg333333?gٿzduck_vhacd.urdfzkiva_shelf/model.sdf)r   r   gʡE?)r   r   r   r   g{/h?g~?gDXoC?gK?g333333?ztable_square/table_square.urdfg      zhusky/husky.urdfg       @g      )
r   r   r   r   r   r   r   r   r   r   r   i)'pybulletptimepybullet_dataconnectSHARED_MEMORYcidGUIsetAdditionalSearchPathgetDataPathresetSimulationconfigureDebugVisualizerCOV_ENABLE_RENDERINGloadURDFobjectspr2_gripperprintjointPositionsrangegetNumJoints
jointIndexresetJointStatecreateConstraintJOINT_FIXEDr
   kukasetJointMotorControl2POSITION_CONTROLloadSDFkuka_gripperresetBasePositionAndOrientationkuka_cid
JOINT_GEARpr2_cid2changeConstraintob
setGravitysetRealTimeSimulation
disconnect     Y/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_examples/vr_kuka_setup.py<module>rA      s     ii !G))AEE   -335 6       1111 5JJ|Xx8XxYab JJ~x8XxQY
 JJ!8XxIW` aj n  k 9{34JK^J-GH 5 

["b"ammYP[;= i  g JJ/9hPXZb# qzZt,-JD*nZ&@A$
A,>,>z@Z\]^ .
 JJ9h(T\
 JJ9h(T\
 JJ9h(T\ ))G
Hqz o  l   ! !,0O"MO |45JL*nZ.HI,
A4F4FWaHb 6
 dA|QyR^') l*()(12;1:<   8rs1WZ [ JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ!8Y(HV^
 JJ (Ix8U]
 JJ"Hi8XW_
 JJ (Ix8U] ))*
+QZ  ! !"&D"JL JJ!9h(HV^
 JJ"Ix8YXa
 JJ (Hh(T\
 JJ/HhPXZb# QZr*+JB
N:$>? , JJ!8Y(HV^ QZ r*+JB
N:$>? ,   1111 5 Xx * Q3     ,,q!S 	r?   