
    ni              
       J   S SK Jr  S SK Jr  S SKrS SKrS SKr\R                  " \R                  S9r
\
R                  \R                  " 5       5        \R                  " \R                  S9r\R                  \R                  " 5       5        \R                  S\
R                  S9r\
R                  S5      r\R$                  " 5       r\R)                  \\R*                  5        \R$                  " 5       r\R)                  \\
R*                  5        S r/ SQr/ SQr/ SQr/ SQr\R9                  \\\\\\\
R*                  \R*                  5      r\
R<                  \l        \RA                  S	5        \!" \
R*                  5        \!" \R*                  5        \!" S
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RE                  5       5        \!" S\RE                  5       5        \R                  " \RF                  S9r$\$RK                  \$RL                  S 5        / SQr'\RQ                  / SQ\'\$R*                  5        \$RS                  S5        \$RK                  \$RL                  S5        \$RU                  5       (       aE  \$RW                  SS\$RX                  S9  \RZ                  " S5        \$RU                  5       (       a  MD  gg)    )bullet_client)
urdfEditorN)connection_modezhusky/husky.urdf)flagszkuka_iiwa/model.urdf)r   r   r   zcombined.urdfzp0.getNumBodies()=zp1.getNumBodies()=)r   r   r      r   i@     )renderergq?).pybullet_utilsr   bcr   edpybulletpybullet_datatimeBulletClientDIRECTp0setAdditionalSearchPathgetDataPathp1loadURDFURDF_USE_IMPLICIT_CYLINDERhuskykuka
UrdfEditored0initializeFromBulletBody_cliented1parentLinkIndexjointPivotXYZInParentjointPivotRPYInParentjointPivotXYZInChildjointPivotRPYInChildjoinUrdfnewjointJOINT_FIXED
joint_typesaveUrdfprintgetNumBodiesGUIpguiconfigureDebugVisualizerCOV_ENABLE_RENDERINGorncreateMultiBodysetRealTimeSimulationisConnectedgetCameraImageER_BULLET_HARDWARE_OPENGLsleep     ]/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_utils/examples/combineUrdf.py<module>r9      s   . +   __X__5   =446 7__X__5   =446 7 	&b.K.KL	{{)*mmo   UBJJ /mmo   T2:: . ! !     <<_.CEZ,.BBJJPRPZPZ\nn  _  bjj  bjj  BOO- . BOO- .	x||4   d77 ;   IsDLL 1   1    d77 ;c3)G)GH**Y r7   