12 lines
439 B
Python
12 lines
439 B
Python
import xacro
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from pathlib import Path
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def load_robot_description(model_path: Path, robot_name: str) -> str:
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suffix = Path(model_path).suffix.lower()
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if suffix == ".xacro":
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return xacro.process_file(model_path, mappings={'name': str(robot_name)}).toxml()
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elif suffix == ".urdf":
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return Path(model_path).read_text(encoding="utf-8")
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else:
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raise FileNotFoundError("Supported file formats: xacro/urdf") |