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25 lines
930 B
Python
25 lines
930 B
Python
# Copyright 2023 Intel Corporation. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import xacro
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def to_urdf(xacro_path, parameters=None):
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"""Convert the given xacro file to a URDF string.
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* xacro_path -- the path to the xacro file
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* parameters -- to be used when xacro file is parsed.
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"""
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doc = xacro.process_file(xacro_path, mappings=parameters)
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return doc.toprettyxml(indent=' ')
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