a
    ijV                     @   s   d Z ddlZddlZddlZddlZddlZejddG dd dZej	e
ddd	Zed
kreje dZejdde
dd ejdde
dd e Zee	ejd&Zeee	ej W d   n1 s0    Y  dS )z{CLI for converting legacy MSH files to Wavefront OBJ files.

Usage:
  python -m mujoco.msh2obj -i <msh_file> -o <obj_file>
    NT)frozenc                   @   sP   e Zd ZU dZejed< ejed< ejed< ejed< eej	d dddZ
d	S )
MshzMuJoCo legacy binary msh file.vertex_positionsvertex_normalsvertex_texcoordsface_vertex_indices)filereturnc           
      C   s  |   st|  dt| d}tj|tjddd }tj|tjddd }tj|tjddd }tj|tjddd }tj|tjd| d}tj|tjd| d}tj|tjd| d}tj|tjd| d}	W d   n1 s0    Y  |jd| krtd	|j d
| d|jd| kr@td|j d
| d|jd| krbtd|j d|	jd| krtd|	j d
| d|	dd}|	dd}|		dd}	|	dd}d|dddf  |dddf< t
||||	dS )z%Create a Msh object from a .msh file.z does not exist.rb   )Zdtypecountr         NzInvalid number of vertices: z != 3*.zInvalid number of normals: zInvalid number of texcoords: z != 2*{ntexcoord}.zInvalid number of faces: )r   r   r   r   )existsFileNotFoundErroropennpfromfileZint32Zfloat32size
ValueErrorZreshaper   )
r   fZnvertexZnnormalZ	ntexcoordZnfacer   r   r   r    r   N/home/ghrups/robot-bench/.venv/lib64/python3.9/site-packages/mujoco/msh2obj.pycreate&   sL    4 z
Msh.createN)__name__
__module____qualname____doc__r   Zndarray__annotations__staticmethodpathlibPathr   r   r   r   r   r      s   




r   )msh_filer	   c                 C   s  t | }t }|jD ](\}}}|d| d| d| d q|jD ](\}}}|d| d| d| d qH|jD ] \}}|d| d| d qx|jD ]p\}}	}
|d|d  d|d  d|d  d|	d  d|	d  d|	d  d|
d  d|
d  d|
d  d q|	 S )	z.Convert a legacy .msh file to the .obj format.zv  
zvn zvt zf r   /)
r   r   ioStringIOr   writer   r   r   getvalue)r$   Zmshoutxyzuvijkr   r   r   
msh_to_objX   s    
  hr5   __main__)descriptionz-iz--inputzPath to the msh file.)typehelpz-oz--outputzPath to the obj file.w)r   argparsedataclassesr(   r"   numpyr   	dataclassr   r#   strr5   r   ArgumentParserparseradd_argument
parse_argsargsr   outputr   r*   inputr   r   r   r   <module>   s   
: