XML world parser

scripts/run_autonomous.sh

@@ -107,30 +107,8 @@ else
     exit 1
 fi
 
-UGV_CONFIG="$PROJECT_DIR/config/ugv.yaml"
-if [ -f "$UGV_CONFIG" ] && [ -f "$WORLD_FILE" ]; then
-    python3 -c "
-import yaml, re
-cfg = yaml.safe_load(open('$UGV_CONFIG'))
-pos = cfg.get('position', {})
-x, y = pos.get('x', 0.0), pos.get('y', 0.0)
-with open('$WORLD_FILE', 'r') as f:
-    sdf = f.read()
-# Sync UGV include position
-sdf = re.sub(
-    r'(<name>ugv</name>\s*)<pose>[^<]*</pose>',
-    rf'\1<pose>{x} {y} 0 0 0 0</pose>',
-    sdf, count=1)
-# Sync UAV on top of UGV (body top=0.18 + iris legs=0.195 ≈ 0.40)
-uav_z = 0.40
-sdf = re.sub(
-    r'(<uri>model://iris_with_gimbal</uri>\s*)<pose[^>]*>[^<]*</pose>',
-    rf'\1<pose degrees=\"true\">{x} {y} {uav_z} 0 0 90</pose>',
-    sdf, count=1)
-with open('$WORLD_FILE', 'w') as f:
-    f.write(sdf)
-print(f'[INFO] UGV at ({x}, {y}) — UAV on top at z={uav_z}')
-" 2>/dev/null || print_info "Position sync skipped"
+if [ -f "$PROJECT_DIR/scripts/generate_world.py" ]; then
+    python3 "$PROJECT_DIR/scripts/generate_world.py"
 fi
 
 print_info "==================================="