Source code for state_space_setup_assistant.resources

"""Resource resolution: package:// URIs and containment-guarded mesh paths."""

import os
from typing import Optional

from urdf_state_space.config import resolve_resource, _read_urdf  # noqa: F401




def load_urdf(source: str, base_dir: str = '.') -> tuple:
    """Resolve ``source`` (path or package:// URI) and return
    (absolute_path, processed_urdf_xml). Runs xacro on .xacro files."""
    path = resolve_resource(source, base_dir)
    path = os.path.abspath(path)
    if not os.path.isfile(path):
        raise FileNotFoundError(f'URDF not found: {path} (from {source!r})')
    return path, _read_urdf(path)





def safe_share_path(package: str, relative: str) -> Optional[str]:
    """Absolute path of ``relative`` inside ``package``'s share directory,
    or None if it escapes the share dir (traversal) or does not exist.

    Raises LookupError if the package itself is unknown (workspace not
    built/sourced).
    """
    from ament_index_python.packages import (
        get_package_share_directory, PackageNotFoundError)
    try:
        share = os.path.realpath(get_package_share_directory(package))
    except PackageNotFoundError as exc:
        raise LookupError(
            f'package {package!r} not found -- build and source the '
            'workspace so its share directory is on the ament index') from exc
    candidate = os.path.realpath(os.path.join(share, relative))
    if not (candidate == share or candidate.startswith(share + os.sep)):
        return None
    if not os.path.isfile(candidate):
        return None
    return candidate