"""运行时机器人资产路径。

所有会被 Python 包加载的资产都必须位于 ``engineai_lab/assets`` 内，
这样 editable 安装和 wheel 安装使用相同的路径规则。
"""

from pathlib import Path


ASSET_ROOT = Path(__file__).resolve().parent
# 保留 PM01 现有的字符串拼接接口。
ASSET_DIR = str(ASSET_ROOT)

GEN2_ASSET_DIR = ASSET_ROOT / "gen2"
GEN2_URDF_DIR = GEN2_ASSET_DIR / "urdf"
GEN2_ORIGINAL_URDF_PATH = GEN2_URDF_DIR / "robot.urdf"
GEN2_SIMPLIFIED_COLLISION_URDF_PATH = GEN2_URDF_DIR / "robot_simplified_collision.urdf"
GEN2_SIMPLIFIED_COLLISION_MESH_URDF_PATH = GEN2_URDF_DIR / "robot_simplified_collision_mesh.urdf"

__all__ = [
    "ASSET_DIR",
    "ASSET_ROOT",
    "GEN2_ASSET_DIR",
    "GEN2_URDF_DIR",
    "GEN2_ORIGINAL_URDF_PATH",
    "GEN2_SIMPLIFIED_COLLISION_URDF_PATH",
    "GEN2_SIMPLIFIED_COLLISION_MESH_URDF_PATH",
]