modularize_urdf: Added --macro-name option to specify the macro name (#610)

Author: KenMat765

skrobot/apps/modularize_urdf.py

@@ -16,10 +16,12 @@ def main():
     parser.add_argument("--no-prefix", action="store_true",
                         help="Remove 'prefix' parameter and do not use ${prefix} in names")
     parser.add_argument("--output", help="Output file path")
+    parser.add_argument("--macro-name", help="Name for the xacro macro. Defaults to the robot name in the URDF.")
     args = parser.parse_args()
 
     root_link = find_root_link(args.input_urdf)
-    xacro_root, robot_name = transform_urdf_to_macro(args.input_urdf, root_link, args.no_prefix)
+    xacro_root, final_macro_name = transform_urdf_to_macro(
+        args.input_urdf, root_link, args.no_prefix, macro_name=args.macro_name)
 
     if args.output:
         output_path = args.output
@@ -29,7 +31,7 @@ def main():
 
     etree.ElementTree(xacro_root).write(output_path, pretty_print=True, xml_declaration=True, encoding="utf-8")
 
-    print_xacro_usage_instructions(output_path, robot_name, args.no_prefix)
+    print_xacro_usage_instructions(output_path, final_macro_name, args.no_prefix)
 
 
 if __name__ == "__main__":

skrobot/urdf/modularize_urdf.py

@@ -105,7 +105,7 @@ def find_root_link(input_path):
         raise ValueError("Could not determine root link. Check that the URDF contains valid joint definitions.")
 
 
-def transform_urdf_to_macro(input_path, connector_link, no_prefix):
+def transform_urdf_to_macro(input_path, connector_link, no_prefix, macro_name=None):
     """Transform a URDF file into a Xacro macro with connector joint.
 
     This function converts a URDF file into a reusable Xacro macro that can be
@@ -120,11 +120,13 @@ def transform_urdf_to_macro(input_path, connector_link, no_prefix):
         Name of link to connect to parent robot
     no_prefix : bool
         If True, don't add prefixes to element names
+    macro_name : str, optional
+        Name for the xacro macro. If None, uses the robot name from the URDF.
 
     Returns
     -------
     tuple[lxml.etree.Element, str]
-        Tuple of (xacro_root_element, robot_name)
+        Tuple of (xacro_root_element, final_macro_name)
     """
     XACRO_NS = "http://ros.org/wiki/xacro"
     NSMAP = {"xacro": XACRO_NS}
@@ -155,9 +157,12 @@ def transform_urdf_to_macro(input_path, connector_link, no_prefix):
         # Provide a default empty string for the prefix.
         macro_params.insert(0, "prefix:=''")
 
+    # Use provided macro_name, otherwise fall back to the robot name
+    final_macro_name = macro_name if macro_name else robot_name
+
     # Create macro element
     macro = etree.Element("{}macro".format("{" + XACRO_NS + "}"))
-    macro.set("name", robot_name)
+    macro.set("name", final_macro_name)
     macro.set("params", " ".join(macro_params))
     xacro_root.append(macro)
 
@@ -216,7 +221,7 @@ def transform_urdf_to_macro(input_path, connector_link, no_prefix):
     indent_element(xacro_root, level=0)
     xacro_root.tail = None  # Ensure no tail text at the root level
 
-    return xacro_root, robot_name
+    return xacro_root, final_macro_name
 
 
 def print_xacro_usage_instructions(output_path, robot_name, no_prefix=False):