o
    rEj
                     @   s&  d dl Z d dlm  mZ d dlZdZdd Zedkrd dl	Z
d dlmZ e Ze jejeddZe eZe ee ed	ejd
ejdej eejdkre  Ze ee e eddZe ee e!e" #ejd  W d   n1 sw   Y  edejd  dS dS dS )    NzY/data/cameron/para/robot/yam/raiden_fork/third_party/exo_redo/robot_models/i2rt_yam_fidexc                  C   s   t t d} |  }|dpt |d}|dt d |dp*t |d}|dp5t |d}|dd |d	d |S )
Nz/yam.xmlcompilermeshdirz/assetsvisualglobaloffwidth1600	offheight)ETparseYgetrootfind
SubElementset)trcvg r   3/data/cameron/repos/smith300_para_stuff/yam_load.pyyam_root   s
   (.r   __main__)Imageunicode)encodingzYAM OK nbodynmeshnjnt   il  wrote)$mujocoxml.etree.ElementTreeetreeElementTreer	   sysr   r   __name__numpynpPILr   r   MjModelfrom_xml_stringtostringmMjDatad
mj_forwardprintnbodyr   r   lenargv	MjvCameracammjv_defaultFreeCameraRendererrrupdate_scene	fromarrayrendersaver   r   r   r   <module>   s"   " ,(