import numpy as np
from hold import Hold
from wall import Wall
from climber import Climber
from torso import Torso
from state import State
from planner import find_best_betasholds = [    Hold(0.0, 0.0, 0.0),    Hold(50, 30, 0.0),    Hold(-50, 40, 0.0),    Hold(20, 80, 0.0),    Hold(-30, 90, 0.0),    Hold(60, 120, 0.0),    Hold(-50, 130, 0.0),    Hold(0.0, 160, 0.0)]
wall = Wall(holds)climber = Climber(height=170)climber.mass = 65torso = Torso(    position=np.array([0.0, 5.0, 15.0]),    roll=0,    pitch=0,    yaw=0,    width=40,    height=60,    thickness=20)state = State(    left_hand=2,    right_hand=1,    left_foot=0,    right_foot=0,    torso=torso)roll_values = [-10, 0, 10]pitch_values = [-10, 0, 10]yaw_values = [-10, 0, 10]arm_extensions = [0.7, 0.8, 0.9, 1.0]leg_extensions = [0.7, 0.8, 0.9, 1.0]betas = find_best_betas(    state,    wall,    climber,    radius=80,    roll_values=roll_values,    pitch_values=pitch_values,    yaw_values=yaw_values,    arm_extensions=arm_extensions,    leg_extensions=leg_extensions)print(f"Found {len(betas)} betas")for i, beta in enumerate(betas, start=1):    print(f"\n===== BETA {i} =====")    print(f"Score: {beta.score}")    print(f"Left Hand : {beta.left_hand}")    print(f"Right Hand: {beta.right_hand}")    print(f"Left Foot : {beta.left_foot}")    print(f"Right Foot: {beta.right_foot}")    print(f"Roll : {beta.torso.roll}")    print(f"Pitch: {beta.torso.pitch}")    print(f"Yaw  : {beta.torso.yaw}")    print(f"Left Arm Margin : {beta.left_arm_margin:.2f}")    print(f"Right Arm Margin: {beta.right_arm_margin:.2f}")    print(f"Left Leg Margin : {beta.left_leg_margin:.2f}")    print(f"Right Leg Margin: {beta.right_leg_margin:.2f}")```