
    ni              	          S SK rS SKrS SKr\R
                  " \R                  5        \R                  " \R                  " 5       5        Sr	\R                  r/ SQr\R                  " S\\\	S9r\R                  " S\\	S9r/ r/ r\" \R&                  " \5      5       H  r\R*                  " \\S S S9  \R,                  " \\5      r\S   r\S	   r\\R4                  :X  d  \\R6                  :X  d  MU  \R9                  \5        \R9                  \R:                  " \R=                  S
5      SSS 5      5        M     Sr \R@                  " 5         \" \!" \5      5       H;  r"\\"   r#\RH                  " \#5      r%\RL                  " \\\"   \RN                  \%SS9  M=     \S-  r\S :  a  \RP                  " SS\RR                  S9  Sr\RT                  " S5        M  )    NT)r   r   g      ztable/table.urdf)flagsuseFixedBasezxarm/xarm6_robot.urdf)linearDampingangularDamping      zutf-8   
   g     @)forcei@     )renderergq?)+pybulletppybullet_datapdtimeconnectGUIsetAdditionalSearchPathgetDataPathr   URDF_INITIALIZE_SAT_FEATURESr   	table_posloadURDFtablexarmjointIdsparamIdsrangegetNumJointsjchangeDynamicsgetJointInfoinfo	jointName	jointTypeJOINT_PRISMATICJOINT_REVOLUTEappendaddUserDebugParameterdecodeskip_cam_framesstepSimulationlenicreadUserDebugParameter	targetPossetJointMotorControl2POSITION_CONTROLgetCameraImageER_BULLET_HARDWARE_OPENGLsleep     S/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_robots/xarm/xarm.py<module>r;      s      		!%%    "..* + 	&& 		

%y%l[zz)5|T	q~~d#	$A4!A>	
a	 $1g)1g)1$$$	Q5E5E(EOOAOOA++I,<,<W,Er1aPQ 
% 
H
Qqk!&&q))$Q-?-?RZ[  AQ3sQ%@%@B/G 	r9   