Add geometry-based robot class generator

README.md

@@ -67,6 +67,9 @@ skr visualize-mesh mesh_file.stl
 
 # Convert wheel collision models
 skr convert-wheel-collision robot.urdf --output converted.urdf
+
+# Generate robot class from URDF geometry
+skr generate-robot-class robot.urdf --output MyRobot.py
 ```
 
 ### Legacy Commands (still supported)

docs/source/cli.rst

@@ -109,6 +109,29 @@ Convert wheel collision models in URDF files.
 
    skr convert-wheel-collision robot.urdf --output converted.urdf
 
+generate-robot-class
+~~~~~~~~~~~~~~~~~~~~
+
+Generate Python robot class from URDF geometry. This tool automatically detects
+kinematic chains (arms, legs, head, torso) and generates a Python class with
+appropriate properties and end-effector coordinates.
+
+No LLM or API keys required - uses only URDF structure and geometry.
+
+.. code-block:: bash
+
+   # Generate robot class and print to stdout
+   skr generate-robot-class robot.urdf
+
+   # Save to file
+   skr generate-robot-class robot.urdf --output MyRobot.py
+
+   # Specify custom class name
+   skr generate-robot-class robot.urdf --class-name MyCustomRobot --output MyRobot.py
+
+   # Show detected groups without generating code
+   skr generate-robot-class robot.urdf --show-groups
+
 Backward Compatibility
 ----------------------
 
@@ -124,6 +147,7 @@ For backward compatibility, all original individual commands are still available
    urdf-hash robot.urdf
    visualize-mesh mesh_file.stl
    convert-wheel-collision robot.urdf --output converted.urdf
+   generate-robot-class robot.urdf --output MyRobot.py
 
 Getting Help
 ------------

skrobot/apps/cli.py

@@ -22,6 +22,7 @@ def get_available_apps():
         'urdf_hash': ('Calculate URDF hash', None),
         'convert_wheel_collision': ('Convert wheel collision model', None),
         'extract_sub_urdf': ('Extract sub-URDF from a root link', None),
+        'generate_robot_class': ('Generate robot class from URDF geometry', None),
     }
 
     for filename in os.listdir(apps_dir):

skrobot/apps/generate_robot_class.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+
+"""Generate robot class from URDF geometry.
+
+This tool generates Python robot class code with kinematic chain properties
+(arm, right_arm, left_arm, etc.) from any URDF robot model.
+
+No LLM or API keys required - uses only URDF structure and geometry.
+"""
+
+import argparse
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description='Generate robot class from URDF geometry')
+    parser.add_argument(
+        'input_urdfpath',
+        type=str,
+        help='Input URDF path')
+    parser.add_argument(
+        '--output', '-o',
+        type=str,
+        default=None,
+        help='Output path for generated Python file')
+    parser.add_argument(
+        '--class-name', '-c',
+        type=str,
+        default=None,
+        help='Class name for the generated class (default: auto-generated)')
+    parser.add_argument(
+        '--show-groups',
+        action='store_true',
+        help='Show detected groups without generating code')
+    args = parser.parse_args()
+
+    from skrobot.models.urdf import RobotModelFromURDF
+    from skrobot.urdf.robot_class_generator import generate_groups_from_geometry
+    from skrobot.urdf.robot_class_generator import generate_robot_class_from_geometry
+
+    robot = RobotModelFromURDF(urdf_file=args.input_urdfpath)
+
+    print(f"Robot: {robot.name}")
+    print(f"Links: {len(robot.link_list)}")
+    print(f"Joints: {len(robot.joint_list)}")
+    print()
+
+    if args.show_groups:
+        groups, end_effectors, end_coords_info, robot_name = \
+            generate_groups_from_geometry(robot)
+        print("Detected groups:")
+        for group_name, group_data in groups.items():
+            links = group_data.get('links', [])
+            tip = group_data.get('tip_link', 'N/A')
+            print(f"  {group_name}: {len(links)} links, tip={tip}")
+        print()
+        print("End coordinates:")
+        for group_name, ec_info in end_coords_info.items():
+            parent = ec_info.get('parent_link', 'N/A')
+            pos = ec_info.get('pos', [0, 0, 0])
+            print(f"  {group_name}: parent={parent}, pos={pos}")
+        return
+
+    code = generate_robot_class_from_geometry(
+        robot,
+        output_path=args.output,
+        class_name=args.class_name,
+        urdf_path=args.input_urdfpath,
+    )
+
+    if args.output:
+        print(f"Generated class saved to: {args.output}")
+    else:
+        print("Generated code:")
+        print("-" * 60)
+        print(code)
+
+
+if __name__ == '__main__':
+    main()

skrobot/urdf/__init__.py

@@ -3,6 +3,8 @@
 from skrobot.urdf.modularize_urdf import find_root_link
 from skrobot.urdf.modularize_urdf import transform_urdf_to_macro
 from skrobot.urdf.primitives_converter import convert_meshes_to_primitives
+from skrobot.urdf.robot_class_generator import generate_groups_from_geometry
+from skrobot.urdf.robot_class_generator import generate_robot_class_from_geometry
 from skrobot.urdf.scale_urdf import scale_urdf
 from skrobot.urdf.transform_urdf import transform_urdf_with_world_link
 from skrobot.urdf.wheel_collision_converter import convert_wheel_collisions_to_cylinders
@@ -23,4 +25,6 @@
     'get_mesh_dimensions',
     'extract_sub_urdf',
     'scale_urdf',
+    'generate_groups_from_geometry',
+    'generate_robot_class_from_geometry',
 ]