+ nDj2^RIHt^RIt^RIHt^RIHtHtHtH t ]'d)^RI H t ^RI H t ^RIt^RIHt^RIHt^R IHt^R IHt.ROt!RR 4t!RR 4t!RR 4t!RR4tR#)) annotationsN) TYPE_CHECKING)_UrdfJointInternal_UrdfLinkInternal_UrdfMimicInternal_UrdfTreeInternal)Sequence)Path Transform3D)ComponentColumnListLazyChunkStream)RecordingStream UrdfJointUrdfLink UrdfMimicUrdfTreect]tRt^tRtRRlt]RRl4t]RRl4t]RR l4t R R lt R t R #)rz A URDF `` tag specification. A mimic joint's value is derived from a driver joint as `value = multiplier * driver_value + offset`. c V^8dQhRRRR/#)innerrreturnNone)formats"N/data/cameron/venvs/s3viz/lib/python3.14/site-packages/rerun_sdk/rerun/urdf.py __annotate__UrdfMimic.__annotate__0Tc WnR#N_innerselfrs&&r__init__UrdfMimic.__init__ r!cV^8dQhRR/#rrstrr)rs"rrr"s!!s!r!c .VPP#)zName of the driver joint.)r%jointr's&rr/UrdfMimic.joint!s{{   r!cV^8dQhRR/#rrfloatr)rs"rrr's&&E&r!c .VPP#)zCMultiplier applied to the driver joint's value (defaults to `1.0`).)r% multiplierr0s&rr6UrdfMimic.multiplier&{{%%%r!cV^8dQhRR/#r3r)rs"rrr,s"""r!c .VPP#)zLOffset added after multiplying the driver joint's value (defaults to `0.0`).)r%offsetr0s&rr;UrdfMimic.offset+s{{!!!r!cV^8dQhRR/#r,r)rs"rrr0&&#&r!c 6VPP4#r#r%__repr__r0s&rrAUrdfMimic.__repr__0{{##%%r!r$N) __name__ __module__ __qualname____firstlineno____doc__r(propertyr/r6r;rA__static_attributes__rr!rrrsR!!&&""&&r!c^]tRt^4tRtRRlt]RRl4t]RRl4t]RR l4t ]R R l4t ]R R l4t ]RRl4t ]RRl4t ]RRl4t]RRl4t]RRl4t]RRl4t]RRl4tR&RRlltRR/R R!lltR"R#ltR$tR%#)'rz7A URDF joint with properties and transform computation.c V^8dQhRRRR/#)rrrrrr)rs"rrUrdfJoint.__annotate__7r r!c WnR#r#r$r&s&&rr(UrdfJoint.__init__7r*r!cV^8dQhRR/#r,r)rs"rrrM;  c r!c .VPP#)zName of the joint.r%namer0s&rrTUrdfJoint.name:{{r!cV^8dQhRR/#r,r)rs"rrrM@&&C&r!c .VPP#)zAType of the joint (revolute, continuous, prismatic, fixed, etc.).)r% joint_typer0s&rrZUrdfJoint.joint_type?r8r!cV^8dQhRR/#r,r)rs"rrrMEs''S'r!c .VPP#)zName of the parent link.)r% parent_linkr0s&rr^UrdfJoint.parent_linkD{{&&&r!cV^8dQhRR/#r,r)rs"rrrMJrXr!c .VPP#)zName of the child link.)r% child_linkr0s&rrcUrdfJoint.child_linkIr8r!cV^8dQhRR/#rrztuple[float, float, float]r)rs"rrrMOs  0 r!c .VPP#)zAxis of the joint.)r%axisr0s&rrhUrdfJoint.axisNrVr!cV^8dQhRR/#rfr)rs"rrrMT&&6&r!c .VPP#)z"Origin of the joint (translation).)r% origin_xyzr0s&rrmUrdfJoint.origin_xyzSr8r!cV^8dQhRR/#rfr)rs"rrrMYrkr!c .VPP#)z3Origin of the joint (rotation in roll, pitch, yaw).)r% origin_rpyr0s&rrqUrdfJoint.origin_rpyXr8r!cV^8dQhRR/#r3r)rs"rrrM^''U'r!c .VPP#)zLower limit of the joint.)r% limit_lowerr0s&rrvUrdfJoint.limit_lower]r`r!cV^8dQhRR/#r3r)rs"rrrMcrtr!c .VPP#)zUpper limit of the joint.)r% limit_upperr0s&rrzUrdfJoint.limit_upperbr`r!cV^8dQhRR/#r3r)rs"rrrMhs((e(r!c .VPP#)zEffort limit of the joint.)r% limit_effortr0s&rr~UrdfJoint.limit_effortg{{'''r!cV^8dQhRR/#r3r)rs"rrrMms***r!c .VPP#)zVelocity limit of the joint.)r%limit_velocityr0s&rrUrdfJoint.limit_velocityls{{)))r!cV^8dQhRR/#)rrzUrdfMimic | Noner)rs"rrrMrs??'?r!c PVPPpVe \V4#R#)zFMimic-tag specification, or `None` if this joint is not a mimic joint.N)r%mimicrr&s& rrUrdfJoint.mimicqs( !!#(#4y>$>r!Tc$V^8dQhRRRRRR/#)rvaluer4clampboolrr r)rs"rrrMws!  u T [ r!c ^RIHp^RIHpVPP WR7pVR,e%\ P!VR,\^R7V!V!VR,R7VR,VR ,VR ,R 7#) a Compute a Transform3D for this joint at the given value. Parameters ---------- value: Joint angle in radians (revolute/continuous) or distance in meters (prismatic). Ignored for fixed joints. Values outside limits are clamped with a warning if `clamp` is True. clamp: Whether to clamp & warn about values outside joint limits. Returns ------- Transform3D Transform with rotation, translation, parent_frame, and child_frame ready to log. r ) Quaternionrwarning stacklevelquaternion_xyzw)xyzw translation parent_frame child_frame) quaternionrrr) r datatypesrr%compute_transformwarningswarn UserWarning)r'rrr rresults&&& rrUrdfJoint.compute_transformwst$ ")..u.B )  ( MM&+[Q G!v.?'@A}-/}-   r!rc$V^8dQhRRRRRR/#)rvalueszSequence[float]rrrr r)rs"rrrMs"   4 [n r!c  \^RIHpVPP\ V4VR7pVR,F p\ P !V\^R7K" VP!VR,VR,VR,.\V4,VR,.\V4,R 7#) a Compute transforms for this joint at multiple values, returning columnar data for use with `send_columns`. Parameters ---------- values: Joint values: angles in radians (revolute/continuous) or distances in meters (prismatic). Values outside limits are clamped with a warning if `clamp` is True. clamp: Whether to clamp & warn about values outside joint limits. Returns ------- ComponentColumnList Columnar transform data ready for use with [`rerun.send_columns`][]. r rrr translationsquaternions_xyzwrr)rrrr) rr r%compute_transform_columnslistrrrcolumnslen)r'rrr rrs&&$ rr#UrdfJoint.compute_transform_columnss$ "66tF|56Qj))G MM';1 =*""~.01 01CK? ./#f+=   r!cV^8dQhRR/#r,r)rs"rrrMr>r!c 6VPP4#r#r@r0s&rrAUrdfJoint.__repr__rCr!r$N)T)rDrErFrGrHr(rIrTrZr^rcrhrmrqrvrzr~rrrrrArJrr!rrr4sA  &&''&&  &&&&''''((**??  B RV @&&r!cH]tRt^tRtRRlt]RRl4tRRltRt R #) rz A URDF link.c V^8dQhRRRR/#)rrrrrr)rs"rrUrdfLink.__annotate__/Dr!c WnR#r#r$r&s&&rr(UrdfLink.__init__r*r!cV^8dQhRR/#r,r)rs"rrrrQr!c .VPP#)zName of the link.rSr0s&rrT UrdfLink.namerVr!cV^8dQhRR/#r,r)rs"rrrr>r!c 6VPP4#r#r@r0s&rrAUrdfLink.__repr__rCr!r$N) rDrErFrGrHr(rIrTrArJrr!rrrs(  &&r!c]tRt^tRtRRlt]R(RRRR/RRlll4t]R R l4t ]R R l4t R Rlt RRlt RRlt RRltRRltRRltRRltR(RRlltRR/RR lltR!R"/R#R$lltR%R&ltR'tR#))rad A URDF robot model with joints and links. Use [`log_urdf_to_recording`][rerun.urdf.UrdfTree.log_urdf_to_recording] to log the full model (geometry + static transforms), then animate individual joints by logging [`archetypes.Transform3D`][rerun.archetypes.Transform3D] computed via [`UrdfJoint.compute_transform`][rerun.urdf.UrdfJoint.compute_transform]. c V^8dQhRRRR/#)rrrrrr)rs"rrUrdfTree.__annotate__rr!c WnR#r#r$r&s&&rr(UrdfTree.__init__r*r!N frame_prefixstatic_transform_entity_pathc ,V^8dQhRRRRRRRRRR/#) rpathz str | Pathentity_path_prefix str | Nonerrrrr)rs"rrrs:     &  !  '1    r!c  H\\P!VVVVR74#)a Load a URDF file from the given path. Parameters ---------- path: Path to the URDF file. entity_path_prefix: Optional entity path prefix. frame_prefix: Optional prefix for all frame IDs. Use to load the same URDF multiple times with unique frames. static_transform_entity_path: Optional entity path to use when logging static transforms. If omitted, defaults to `/tf_static`. This path is not affected by `entity_path_prefix`. )rr)rrfrom_file_path)rrrrs&&$$rrUrdfTree.from_file_paths+4  , ,")-I    r!cV^8dQhRR/#r,r)rs"rrrrQr!c .VPP#)z'Name of the robot defined in this URDF.rSr0s&rrT UrdfTree.namerVr!cV^8dQhRR/#)rrrr)rs"rrrs((j(r!c .VPP#)zThe frame prefix, if set.)r%rr0s&rrUrdfTree.frame_prefixrr!cV^8dQhRR/#)rrrr)rs"rrrs1181r!c H\VPP44#)zGet the root link of the URDF.)rr% root_linkr0s&rrUrdfTree.root_links --/00r!cV^8dQhRR/#)rrzlist[UrdfJoint]r)rs"rrrs<<>r!c V^8dQhRRRR/#)r recordingzRecordingStream | Nonerrr)rs"rrrXs RR/ERQURr!c pVPPVeVP44R#R4R#)a Log the full robot model (geometry + static transforms) to a recording stream. This can be used as alternative to [`rerun.log_file_from_path`][] for URDF files, especially in cases where you need the extra configuration options of `UrdfTree` (e.g. `frame_prefix` for multi-robot setups). Parameters ---------- recording: The recording stream to log to. If `None`, the current active recording is used. N)r%log to_native)r'rs&&rlog_urdf_to_recordingUrdfTree.log_urdf_to_recordingXs' 1F ++-QDQr!include_joint_transformsTc V^8dQhRRRR/#)rrrrrr)rs"rrrhsff$f/fr!c R^RIHpV!VPPVR74#)a+ Return a lazy stream over chunks emitted from this URDF tree. !!! warning This method is experimental and returns the experimental `rerun.experimental.LazyChunkStream` API. Parameters ---------- include_joint_transforms: Whether to include the static joint transforms from the URDF. r)r) experimentalrr%stream)r'rrs&$ rrUrdfTree.streamhs% 2t{{11Kc1deer!rFc(V^8dQhRRRRRRRR/#)rnameszpa.Arrayrrrrr)rs"rrrzs8"W"W"W"W  "W  "Wr!c <VPPWVR7#)a. Compute batches of 3D transform components from Arrow list arrays containing joint names and values. `names` must be a `ListArray` with `Utf8` values. `values` must be a `ListArray` with values castable to `Float64`. The output is a `ListArray` with `translation`, `quaternion`, `parent_frame`, and `child_frame` fields and the same outer row count as the inputs. Note: this is intended as a helper for lens pipelines, where you would usually pipe this output through an additional lens that scatters each batch into final `Transform3D` component rows. Parameters ---------- names: Joint names for each row. values: Joint values for each row. clamp: Whether to clamp & warn about values outside joint limits. Returns ------- pa.Array Transform batches with one outer row for each input row. r)r%compute_joint_transform_batches)r'rrrs&&&$rr(UrdfTree.compute_joint_transform_batcheszs D{{::5PU:VVr!cV^8dQhRR/#r,r)rs"rrrr>r!c 6VPP4#r#r@r0s&rrAUrdfTree.__repr__rCr!r$r#)rDrErFrGrHr( staticmethodrrIrTrrrrrrrrrrrrArJrr!rrrs  $(  48    D  ((1< 3 C 2<&?&R ff$"W  "WH&&r!)rrrr) __future__rrtypingrrerun_bindingsrrrrcollections.abcr pathlibr pyarrowparr _baseclassesr rrrecording_streamr__all__rrrrrr!rrs^" gg(1-1 <&&