Первоначальная настройка

tools/export_descriptions.py

@@ -0,0 +1,77 @@
+"""One-time, ROS-free export of this repository's known description macros.
+
+This is deliberately not a general Xacro interpreter. Runtime uses the emitted URDFs.
+"""
+from copy import deepcopy
+from pathlib import Path
+import re
+import shutil
+import xml.etree.ElementTree as ET
+
+ROOT = Path(__file__).resolve().parents[1]
+SOURCE = ROOT / "iiwa_description"
+DEST = ROOT / "iiwa_genesis_description"
+NS = "{http://www.ros.org/wiki/xacro}"
+
+
+def export():
+    props = {}
+    for name in ("params", "meshes"):
+        for node in ET.parse(SOURCE / f"urdf/{name}.xacro").getroot():
+            if node.tag == NS + "property":
+                props[node.get("name")] = node.get("value")
+
+    def substitute(value, variables):
+        for _ in range(8):
+            updated = re.sub(r"\$\{([^}]+)\}", lambda m: variables[m[1]], value)
+            if updated == value:
+                return value
+            value = updated
+        raise ValueError("Unresolved variable")
+
+    macros = {n.get("name"): n for n in ET.parse(SOURCE / "urdf/macros.xacro").getroot()}
+
+    def expand(node):
+        if not node.tag.startswith(NS):
+            return [deepcopy(node)]
+        name = node.tag[len(NS):]
+        if name == "include":
+            return []
+        result = []
+        for template in macros[name]:
+            item = deepcopy(template)
+            for child in item.iter():
+                child.attrib = {k: substitute(v, props | node.attrib) for k, v in child.attrib.items()}
+            result.append(item)
+        return result
+
+    def write(robot, path):
+        path.parent.mkdir(parents=True, exist_ok=True)
+        for mesh in robot.iter("mesh"):
+            source = mesh.get("filename")
+            prefix = "package://iiwa_description/resource/meshes/"
+            if not source.startswith(prefix):
+                raise ValueError(source)
+            relative = source[len(prefix):]
+            target = DEST / "urdf/meshes" / relative
+            target.parent.mkdir(parents=True, exist_ok=True)
+            shutil.copy2(SOURCE / "resource/meshes" / relative, target)
+            mesh.set("filename", ("meshes/" if path.parent.name == "urdf" else "../urdf/meshes/") + relative)
+        ET.indent(robot)
+        ET.ElementTree(robot).write(path, encoding="utf-8", xml_declaration=True)
+
+    base = ET.Element("robot", name="iiwa7")
+    for name in ("links", "joints"):
+        for node in ET.parse(SOURCE / f"urdf/{name}.xacro").getroot():
+            base.extend(expand(node))
+    write(deepcopy(base), DEST / "urdf/iiwa_without_gripper.urdf")
+    for node in ET.parse(SOURCE / "urdf/tools/patron.xacro").getroot():
+        if node.tag in ("link", "joint"):
+            base.append(deepcopy(node))
+    write(base, DEST / "urdf/iiwa_with_gripper.urdf")
+    write(ET.parse(SOURCE / "urdf/table/table.urdf").getroot(), DEST / "table/table.urdf")
+    shutil.copy2(SOURCE / "LICENSE", DEST / "LICENSE")
+
+
+if __name__ == "__main__":
+    export()