ROS MCP Server

from pathlib import Path import yaml def load_robot_config(robot_name: str, specs_dir: str) -> dict: """ Load the robot configuration from a YAML file by robot name. Args: robot_name (str): The name of the robot. specs_dir (str): Directory containing robot specification files. Returns: dict: The robot configuration. Raises: FileNotFoundError: If the YAML file does not exist. """ file_path = Path(specs_dir) / f"{robot_name}.yaml" if not file_path.exists(): raise FileNotFoundError(f"Robot config file not found: {file_path}") with file_path.open("r") as file: return yaml.safe_load(file) or {} def get_verified_robot_spec_util(name: str) -> dict: """ Get the verified robot specification in a more accessible format. Args: name (str): The name of the robot. Returns: dict: Parsed robot configuration with robot name as key. """ # Resolve relative to the project root (one level up from utils) specs_dir = Path(__file__).parent.parent / "robot_specifications" name = name.replace(" ", "_") config = load_robot_config(name, str(specs_dir)) parsed_config = {} # Check if the loaded config has the required fields if not config: raise ValueError(f"No configuration found for robot '{name}'") # Check required fields for field in ("type", "prompts"): if field not in config or config[field] in (None, ""): raise ValueError(f"Robot '{name}' is missing required field: {field}") # Create configuration with robot name as key parsed_config[name] = {"type": config["type"], "prompts": config["prompts"]} return parsed_config def get_verified_robots_list_util() -> dict: """ Get a list of all available robot specification files. Returns: dict: List of available robot names that can be used with get_verified_robot_spec_util. """ # Resolve relative to the project root (one level up from utils) specs_path = Path(__file__).parent.parent / "robot_specifications" if not specs_path.exists(): return {"error": f"Robot specifications directory not found: {specs_path}"} try: # Find all YAML files in the specifications directory yaml_files = list(specs_path.glob("*.yaml")) if not yaml_files: return {"error": "No robot specification files found"} # Extract robot names (file names without .yaml extension) robot_names = [file.stem for file in yaml_files] robot_names.sort() # Sort alphabetically for consistency return {"robot_specifications": robot_names, "count": len(robot_names)} except Exception as e: return {"error": f"Failed to read robot specifications directory: {str(e)}"}