Ë
    :vžjñ  ã                   ó8   — d dl Z d dlZddlmZmZ ddlmZ dd„Zy)é    Né   )ÚlogÚtol)Ú__version__c                 óˆ  — ddl m} ddlm} t        j
                  j                  |«      }t        j
                  j                  |«      }t        j
                  j                  |«      \  }	}
|
dk7  rt        d«      ‚t        j
                  j                  |«      st	        j                  |«       n*t        j
                  j                  |«      st        d«      ‚	 | j                  «       }| j$                  t'        |D �cg c]  }|j$                  ‘Œ c}«      z  }|j)                  d
d¬«      }d}t+        |«      D �]„  \  }}|› d|› �}|› d�}t        j
                  j-                  ||«      } |||«       | j.                  |_        || j0                  z  |_        d|› �}|› }|j2                  D ��cg c]!  }|D �cg c]  }dj5                  |«      ‘Œ c}‘Œ# }}}|j7                  |d|¬«      }|j7                  |d«      }|j7                  |ddd¬«       |j7                  |d|j8                  d›¬«       |j7                  |d|d   d   |d   d   |d   d   |d   d   |d   d   |d   d   ¬«       |j7                  |d«      }|j7                  |ddd¬«       |j7                  |d«      }|j7                  |d||d›d |d›d |d›�¬!«       |j7                  |d"d¬«      }|�)|j7                  |d#|d   d›d |d   d›d |d   d›d$�¬%«       |j7                  |d&«      }|j7                  |ddd¬«       |j7                  |d«      }|j7                  |d||d›d |d›d |d›�¬!«       |�W|› d'�} |j7                  |d(| d)¬*«      }!|j7                  |!ddd¬«       |j7                  |!d+|¬,«       |j7                  |!d-|¬,«       |}�Œ‡ |j;                  |«      }"|› d.�}#|"j=                  t        j
                  j-                  ||#«      d¬/«       |j)                  d0«      }|j7                  |d1«      }$||$_        |j7                  |d2«      }%d3|%_        |j7                  |d4d5¬6«      }&|› d.�|&_        |j7                  |d7«      }'d8t@        › �|j7                  |'d1«      _        d9|j7                  |'d:«      _        |j7                  |d;«      }(||(_        |j;                  |«      }"tB        jD                  rNdd<l#m$}) |jK                   |)d=«      ¬>«      }*|*jM                  |"«      st        jN                  |*jP                  «       |"j=                  t        j
                  j-                  |d?«      «       tS        j&                  |«      S # t        $ r( t        j                   dd¬	«       | j"                  g}Y �ŒÃw xY wc c}w c c}w c c}}w )@a«  
    Convert a Trimesh object into a URDF package for physics
    simulation. This breaks the mesh into convex pieces and
    writes them to the same directory as the .urdf file.

    Parameters
    ---------
    mesh : trimesh.Trimesh
      Input geometry
    directory : str
      The directory path for the URDF package

    Returns
    ---------
    mesh : Trimesh
      Multi-body mesh containing convex decomposition
    r   Né   )Úexport_meshÚ zURDF path must be a directory!z-problem with convex decomposition, using hullT)Úexc_infoÚrobotÚroot)ÚnameÚ_convex_piece_z.objÚlink_z{:.2E}ÚlinkÚinertialÚoriginz0 0 0)ÚxyzÚrpyÚmassz.2E)ÚvalueÚinertiar   )ÚixxÚixyÚixzÚiyyÚiyzÚizzÚvisualÚgeometryÚmeshz.4EÚ )ÚfilenameÚscaleÚmaterialÚcolorz 1)ÚrgbaÚ	collisionÚ_jointÚjointÚfixed)r   ÚtypeÚparent)r   Úchildz.urdf)Úpretty_printÚmodelr   Úversionz1.0Úsdfz1.4)r1   Úauthorztrimesh zblank@blank.blankÚemailÚdescription)Ú
get_streamzschema/urdf.xsd)Úfilezmodel.config)*Ú
lxml.etreeÚetreeÚexportr	   ÚosÚpathÚabspathÚbasenameÚsplitextÚ
ValueErrorÚexistsÚmkdirÚisdirÚconvex_decompositionÚBaseExceptionr   ÚerrorÚconvex_hullÚvolumeÚsumÚElementÚ	enumerateÚjoinÚcenter_massÚdensityÚmoment_inertiaÚformatÚ
SubElementr   ÚElementTreeÚwriteÚtextr   r   ÚstrictÚ	resourcesr6   Ú	XMLSchemaÚvalidateÚdebugÚ	error_logÚnp)+r!   Ú	directoryr$   r&   ÚkwargsÚetr	   Úfullpathr   Ú_ÚextÚconvex_piecesÚmÚeffective_densityr   Úprev_link_nameÚiÚpieceÚ
piece_nameÚpiece_filenameÚpiece_filepathÚ	link_nameÚ	geom_nameÚxÚyÚIr   r   r   r    r%   r(   Ú
joint_namer*   ÚtreeÚurdf_filenamer0   r1   r2   r3   r5   r6   Úschemas+                                              úf/workspace/moltex-experiments/.pixi/envs/default/lib/python3.12/site-packages/trimesh/exchange/urdf.pyÚexport_urdfru   	   s�  € õ& õ $ô �w‰w�‰˜yÓ)€HÜ�7‰7×Ñ˜HÓ%€DÜ�W‰W×Ñ˜dÓ#�F€A€sà
ˆb‚yÜÐ9Ó:Ð:ô �7‰7�>‰>˜(Ô#Ü
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�‰�h ¨g¸7ˆÔCØ
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ð —‘˜t XÓ.ˆØ
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ð —=‘= ¨¸"�=Ó=ˆØÐØ�M‰MØ˜'¨5°©8°C¨.¸¸%À¹(À3¸ÀqÈÈqÉÐRUÈÐVXÐ(Yð ô ð
 —M‘M $¨Ó4ˆ	Ø
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ð Ð%Ø%˜; fÐ-ˆJØ—M‘M $¨°jÀw�MÓOˆEØ�M‰M˜% ¨w¸GˆMÔDØ�M‰M˜% °ˆMÔ?Ø�M‰M˜% ¨yˆMÔ9à"ŠðG -ðL �>‰>˜$Ó€DØ�f˜E�N€MØ‡J�JŒr�w‰w�|‰|˜H mÓ4À4€JÔHð �:‰:�gÓ€DØ�M‰M˜$ Ó'€EØ€E„JØ�m‰m˜D )Ó,€GØ€G„LØ
�-‰-˜˜e¨Uˆ-Ó
3€CØ��uˆ~€C„Hà�]‰]˜4 Ó*€FØ+3´K°=Ð)A€B‡M�M�&˜&Ó!Ô&Ø*=€B‡M�M�&˜'Ó"Ô'à—-‘-  mÓ4€KØ€KÔØ�>‰>˜$Ó€Dä
‡z‚zÝ*ð —‘¡:Ð.?Ó#@�ÓAˆØ�‰˜tÔ$ä�I‰I�f×&Ñ&Ô'à‡J�JŒr�w‰w�|‰|˜H nÓ5Ô6Ü�6‰6�-Ó Ð øôc ò +Ü�	‰	ÐAÈDÕQØ×)Ñ)Ð*‹ð+üò
 +Lùò( -ùÓKs0   ÃV  ÄV4
Æ5	V>Æ>V9ÇV>Ö -V1Ö0V1Ö9V>)g      ð?N)	r;   Únumpyr[   Ú	constantsr   r   r1   r   ru   © ó    rt   Ú<module>rz      s   ðÛ 	ã ç  Ý !ôZ!ry   