Jerry
51 lines
1.3 KiB
Python
51 lines
1.3 KiB
Python
from __future__ import annotations
|
|
|
|
import sys
|
|
from pathlib import PurePosixPath, Path
|
|
|
|
TOM_DIR = Path(__file__).resolve().parent.parent
|
|
if str(TOM_DIR) not in sys.path:
|
|
sys.path.insert(0, str(TOM_DIR))
|
|
|
|
from robot_common.robot_arm import (
|
|
robot_arm_assembly_children,
|
|
robot_arm_motion_envelope,
|
|
robot_arm_srdf_envelope,
|
|
robot_arm_urdf_envelope,
|
|
)
|
|
|
|
|
|
def _v1_step_path(path: str) -> str:
|
|
step_path = PurePosixPath(path)
|
|
if step_path.parts and step_path.parts[0] == "assemblies":
|
|
return step_path.as_posix()
|
|
if step_path.parts and step_path.parts[0] in {"imports", "gripper"}:
|
|
return (PurePosixPath("parts") / step_path).as_posix()
|
|
return (PurePosixPath("parts") / step_path.name).as_posix()
|
|
|
|
|
|
def gen_step() -> dict[str, object]:
|
|
children = [
|
|
{
|
|
**child,
|
|
"path": _v1_step_path(str(child["path"])),
|
|
}
|
|
for child in robot_arm_assembly_children()
|
|
]
|
|
return {
|
|
"children": children,
|
|
}
|
|
|
|
|
|
def gen_urdf() -> dict[str, object]:
|
|
payload = robot_arm_urdf_envelope(urdf_output="tom.urdf")
|
|
return {"xml": payload["xml"]}
|
|
|
|
|
|
def gen_srdf() -> dict[str, object]:
|
|
return robot_arm_srdf_envelope(urdf="tom.urdf")
|
|
|
|
|
|
def gen_motion() -> dict[str, object]:
|
|
return robot_arm_motion_envelope(urdf="tom.urdf")
|