feat: Add script to cluster Dynamixel model files by control table sections

Author: Woojin-Crive

scripts/cluster_model_files.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+#
+# Copyright 2025 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Woojin Wie
+
+import os
+import hashlib
+from collections import defaultdict
+
+MODEL_DIR = os.path.join(os.path.dirname(__file__), '..', 'param', 'dxl_model')
+
+# Get all files in the model directory
+files = [f for f in os.listdir(MODEL_DIR) if os.path.isfile(os.path.join(MODEL_DIR, f))]
+
+# Dictionary to map file content hash to list of files
+hash_to_files = defaultdict(list)
+
+def extract_control_table(filepath):
+    with open(filepath, 'r', encoding='utf-8') as f:
+        lines = f.readlines()
+    in_control_table = False
+    control_table_lines = []
+    for line in lines:
+        if line.strip() == '[control table]':
+            in_control_table = True
+            continue
+        if in_control_table:
+            if line.startswith('[') and not line.strip().startswith('[control table]'):
+                break
+            if line.strip() == '':
+                continue
+            control_table_lines.append(line.strip())
+    return '\n'.join(control_table_lines)
+
+def control_table_hash(control_table_str):
+    return hashlib.sha256(control_table_str.encode('utf-8')).hexdigest()
+
+for filename in files:
+    path = os.path.join(MODEL_DIR, filename)
+    control_table = extract_control_table(path)
+    h = control_table_hash(control_table)
+    hash_to_files[h].append(filename)
+
+# Print clusters of files with identical [control table] sections
+print('Clusters of files with identical [control table] sections:')
+for file_list in hash_to_files.values():
+    if len(file_list) > 1:
+        print(', '.join(file_list))
+
+# Print files with unique [control table] sections
+print('\nFiles with unique [control table] sections:')
+for file_list in hash_to_files.values():
+    if len(file_list) == 1:
+        print(file_list[0])