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urdfdom_py package from urdfdom_py repo

urdfdom_py

Package Summary

Tags No category tags.
Version 0.4.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/urdf_parser_py.git
VCS Type git
VCS Version melodic-devel
Last Updated 2019-10-23
Dev Status MAINTAINED
Released RELEASED

Package Description

Python implementation of the URDF parser.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Thomas Moulard
  • David Lu
  • Kelsey Hawkins
  • Antonio El Khoury
  • Eric Cousineau
  • Ioan Sucan
  • Jackie Kay

urdf_parser_py

Development Setup

You must manually run setup.py. For catkin development, you can install to $ws/../build/lib/pythonX.Y/dist-packages via

devel_prefix=$(cd $(catkin_find --first-only)/.. && pwd)
cd ../urdf_parser_py
python setup.py install --install-layout deb --prefix $devel_prefix

Authors

  • Thomas Moulard - urdfpy implementation, integration
  • David Lu - urdf_python implementation, integration
  • Kelsey Hawkins - urdf_parser_python implementation, integration
  • Antonio El Khoury - bugfixes
  • Eric Cousineau - reflection update

Reflection

This an attempt to generalize the structure of the URDF via reflection to make it easier to extend. This concept is taken from Gazebo's SDF structure, and was done with SDF in mind to a) make an SDF parser and b) make a simple converter between URDF and SDF.

Changes

  • Features:
    • Transmission and basic Gazebo nodes.
    • General aggregate types, preserving order
    • Dumping to YAML, used for printing to string (dictionaries do not preserve attribute ordering)
  • XML Parsing: minidom has been swapped out with lxml.etree, but it should not be hard to change that back. Maybe Sax could be used for event-driven parsing.
  • API:
    • Loading methods rely primarily on instance methods rather than static methods, mirroring Gazebo's SDF construct-then-load method
    • Renamed static parse_xml() to from_xml(), and renamed load_* methods to from_* if they are static

Todo

  1. Support additional formats (SDF, drakeURDF, etc.)
    • Parse Gazebo's SDF definition files at some point? For speed's sake, parse it and have it generate code to use?
    • Consider auto-generating modules from schemas such as urdf.xsd. This can extend to SDF, drakeURDF.
  2. Make a direct, two-way URDF <-> SDF converter.
    • Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
  3. Consider a cleaner implementation for reflection.
    • Make the names a little clearer, especially the fact that from_xml and to_xml write to a node, but do not create a new one.
    • Abstraction layer is not clear. Should explicitly use abstract classes, and try to really clarify the dispatch order (xmlr.Element, xmlr.Param, xmlr.Object, etc.)
  4. Figure out good policy for handling default methods. If saving to XML, write out default values, or leave them out for brevity (and to leave it open for change)? Might be best to add that as an option.
  5. Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython's spinoff of traits?
CHANGELOG

Changelog for package urdfdom_py

0.4.1 (2019-10-22)

  • Python 3 fixes (#38 #43 #48)
  • Remove old example test (#37)
  • Contributors: Chris Lalancette, Eric Cousineau, Markus Grimm, Timon Engelke

0.4.0 (2018-02-21)

  • Add Link.visual and Link.collision properties (#28)
  • Add tests for mutli-visual and multi-collision
  • links and collisions load properly as aggregates
  • Add XPath information when a parse error is encountered
  • Remove travis support. (#22)
  • Reformat python code to pep8 standard (#21)
  • Update core.py to allow passing addHeader arg to to_xml_string function (#19)
  • fixed defaults for xyz/rpy, fixed set_default for Param, added unit tests (#16)
  • Make unit test run with catkin_make run_tests (#15)
  • Contributors: Chris Lalancette, Chris Paxton, Eric Cousineau, Shane Loretz, Will Baker, eugene-katsevman

0.3.3 (2017-02-10)

  • Made Chris and Shane the maintainers
  • Added python-lxml to the travis build.
  • Reverted line break (ros/urdfdom#77) now that there is a more generic solution. (#5)
  • Added line break to make errors easier to read. (#4)
  • Contributors: Chris Lalancette, Isaac I.Y. Saito

0.3.1 (2016-02-22)

  • Add travis
  • Add package.xml for ROS release
  • Tweak CMakeLists to reflect migration from urdfdom
  • Contributors: Jackie Kay

0.3.0 (2016-02-16)

  • [urdf_parser_py] Add missing newline
  • color and texture in link material are optional
  • fixed transmission parser to match specification http://wiki.ros.org/urdf/XML/Transmission#A.3Ctransmission.3E_Elements proper unittest for urdf_parser_py
    • added transmission parsing tests
  • Merge pull request #59 from goretkin/goretkin-optional-calibration joint calibration is optional
  • made hardware interface optional in both transmission actuator and joint
  • joint calibration is optional according to http://wiki.ros.org/urdf/XML/joint
  • set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional
  • urdf_parser_py.xml_reflection : python 3 compatibility Substitute \'Exception, e\' with Exception as e. This ensure compatibility with Python 3 and Python 2.6,2.7 . Check https://docs.python.org/3/howto/pyporting.html#capturing-the-currently-raised-exception for more info.
  • urdf_parser_py: Confirmed that both new transmissions are parseable in the same robot. test: Added in specific test for tranmsissions. Have it print the type. \@todo: Make this a unittest.
  • urdf_parser_py: Added attribute preservation for xmlr.RawType (i.e., <gazebo reference=\"...\"/>)
  • urdf_parser_py: Parsing new transmission format works. Need to add in test for old PR2 transmission types. test/calvin: Added in generated Calvin URDF provided by v4hn test/romeo: Reformatted to match Calvin test
  • urdf_parser_py.urdf: Adding duck-typed parsing for ros_control and PR2 transmissions.
  • [urdf_parser_py] Python3 compatibility
  • Contributors: Antonio El Khoury, Doug Sievers, Eric Cousineau, Gustavo Goretkin, Ioan A Sucan, Ioan Sucan, Jackie Kay, Kei Okada, Kelsey Hawkins, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged urdfdom_py at answers.ros.org

urdfdom_py package from urdfdom_py repo

urdfdom_py

Package Summary

Tags No category tags.
Version 0.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/urdf_parser_py.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-26
Dev Status MAINTAINED
Released RELEASED

Package Description

Python implementation of the URDF parser.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Thomas Moulard
  • David Lu
  • Kelsey Hawkins
  • Antonio El Khoury
  • Eric Cousineau
  • Ioan Sucan
  • Jackie Kay

urdf_parser_py

Development Setup

You must manually run setup.py. For catkin development, you can install to $ws/../build/lib/pythonX.Y/dist-packages via

devel_prefix=$(cd $(catkin_find --first-only)/.. && pwd)
cd ../urdf_parser_py
python setup.py install --install-layout deb --prefix $devel_prefix

Not yet sure how to get it to generate catkin-like development installs, which uses __init__.py to point to the development source directory.

Authors

  • Thomas Moulard - urdfpy implementation, integration
  • David Lu - urdf_python implementation, integration
  • Kelsey Hawkins - urdf_parser_python implementation, integration
  • Antonio El Khoury - bugfixes
  • Eric Cousineau - reflection (serialization?) changes

Reflection (or just Serialization?)

This an attempt to generalize the structure of the URDF via reflection to make it easier to extend. This concept is taken from Gazebo's SDF structure, and was done with SDF in mind to a) make an SDF parser and b) make a simple converter between URDF and SDF.

Changes

  • Features:
    • Transmission and basic Gazebo nodes.
    • General aggregate type, for preserving the order of aggregate types (i.e., the URDF robot model, and for the future, SDF models, links with multiple visuals / collisions, etc). This allows for basic checks to see if "scalar" elements are defined multiple times. (We were affected by this at one point with a pose defined twice with different values, screwing up the loading / saving of a model with this API).
    • Dumping to YAML, used for printing to string.
      • Doesn't preserve ordering because of it, but someone posted an issue about this on pyyaml's issue tracker, and I think a few solutions were posted (including one from the author)
  • XML Parsing: minidom has been swapped out with lxml.etree, but it should not be hard to change that back. Maybe Sax could be used for event-driven parsing.
  • API:
    • Loading methods rely primarily on instance methods rather than static methods, mirroring Gazebo's SDF construct-then-load method
    • Renamed static parse_xml() to from_xml(), and renamed load_* methods to from_* if they are static

Todo

  1. Develop a Python SDF API in a sdf module.
    • Maybe make the package itself be robot_model_py so that the respective modules would be robot_model_py.urdf_parser and robot_model_py.sdf_parser?
    • Parse Gazebo's SDF definition files at some point? For speed's sake, parse it and have it generate code to use?
  2. Make a direct, two-way URDF <-> SDF converter.
    • Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together and (I think) adds some "noise" from OpenDE for positions.
  3. Make the names a little clearer, especially the fact that from_xml and to_xml write to a node, but do not create a new one.
  4. Figure out good policy for handling default methods. If saving to XML, write out default values, or leave them out for brevity (and to leave it open for change)? Might be best to add that as an option.
  5. Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython's spinoff of traits?
CHANGELOG

Changelog for package urdfdom_py

0.3.3 (2017-02-10)

  • Made Chris and Shane the maintainers
  • Added python-lxml to the travis build.
  • Reverted line break (ros/urdfdom#77) now that there is a more generic solution. (#5)
  • Added line break to make errors easier to read. (#4)
  • Contributors: Chris Lalancette, Isaac I.Y. Saito

0.3.1 (2016-02-22)

  • Add travis
  • Add package.xml for ROS release
  • Tweak CMakeLists to reflect migration from urdfdom
  • Contributors: Jackie Kay

0.3.0 (2016-02-16)

  • [urdf_parser_py] Add missing newline
  • color and texture in link material are optional
  • fixed transmission parser to match specification http://wiki.ros.org/urdf/XML/Transmission#A.3Ctransmission.3E_Elements proper unittest for urdf_parser_py
    • added transmission parsing tests
  • Merge pull request #59 from goretkin/goretkin-optional-calibration joint calibration is optional
  • made hardware interface optional in both transmission actuator and joint
  • joint calibration is optional according to http://wiki.ros.org/urdf/XML/joint
  • set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional
  • urdf_parser_py.xml_reflection : python 3 compatibility Substitute \'Exception, e\' with Exception as e. This ensure compatibility with Python 3 and Python 2.6,2.7 . Check https://docs.python.org/3/howto/pyporting.html#capturing-the-currently-raised-exception for more info.
  • urdf_parser_py: Confirmed that both new transmissions are parseable in the same robot. test: Added in specific test for tranmsissions. Have it print the type. \@todo: Make this a unittest.
  • urdf_parser_py: Added attribute preservation for xmlr.RawType (i.e., <gazebo reference=\"...\"/>)
  • urdf_parser_py: Parsing new transmission format works. Need to add in test for old PR2 transmission types. test/calvin: Added in generated Calvin URDF provided by v4hn test/romeo: Reformatted to match Calvin test
  • urdf_parser_py.urdf: Adding duck-typed parsing for ros_control and PR2 transmissions.
  • [urdf_parser_py] Python3 compatibility
  • Contributors: Antonio El Khoury, Doug Sievers, Eric Cousineau, Gustavo Goretkin, Ioan A Sucan, Ioan Sucan, Jackie Kay, Kei Okada, Kelsey Hawkins, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged urdfdom_py at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

urdfdom_py package from urdfdom_py repo

urdfdom_py

Package Summary

Tags No category tags.
Version 0.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/urdf_parser_py.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-26
Dev Status MAINTAINED
Released RELEASED

Package Description

Python implementation of the URDF parser.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Thomas Moulard
  • David Lu
  • Kelsey Hawkins
  • Antonio El Khoury
  • Eric Cousineau
  • Ioan Sucan
  • Jackie Kay

urdf_parser_py

Development Setup

You must manually run setup.py. For catkin development, you can install to $ws/../build/lib/pythonX.Y/dist-packages via

devel_prefix=$(cd $(catkin_find --first-only)/.. && pwd)
cd ../urdf_parser_py
python setup.py install --install-layout deb --prefix $devel_prefix

Not yet sure how to get it to generate catkin-like development installs, which uses __init__.py to point to the development source directory.

Authors

  • Thomas Moulard - urdfpy implementation, integration
  • David Lu - urdf_python implementation, integration
  • Kelsey Hawkins - urdf_parser_python implementation, integration
  • Antonio El Khoury - bugfixes
  • Eric Cousineau - reflection (serialization?) changes

Reflection (or just Serialization?)

This an attempt to generalize the structure of the URDF via reflection to make it easier to extend. This concept is taken from Gazebo's SDF structure, and was done with SDF in mind to a) make an SDF parser and b) make a simple converter between URDF and SDF.

Changes

  • Features:
    • Transmission and basic Gazebo nodes.
    • General aggregate type, for preserving the order of aggregate types (i.e., the URDF robot model, and for the future, SDF models, links with multiple visuals / collisions, etc). This allows for basic checks to see if "scalar" elements are defined multiple times. (We were affected by this at one point with a pose defined twice with different values, screwing up the loading / saving of a model with this API).
    • Dumping to YAML, used for printing to string.
      • Doesn't preserve ordering because of it, but someone posted an issue about this on pyyaml's issue tracker, and I think a few solutions were posted (including one from the author)
  • XML Parsing: minidom has been swapped out with lxml.etree, but it should not be hard to change that back. Maybe Sax could be used for event-driven parsing.
  • API:
    • Loading methods rely primarily on instance methods rather than static methods, mirroring Gazebo's SDF construct-then-load method
    • Renamed static parse_xml() to from_xml(), and renamed load_* methods to from_* if they are static

Todo

  1. Develop a Python SDF API in a sdf module.
    • Maybe make the package itself be robot_model_py so that the respective modules would be robot_model_py.urdf_parser and robot_model_py.sdf_parser?
    • Parse Gazebo's SDF definition files at some point? For speed's sake, parse it and have it generate code to use?
  2. Make a direct, two-way URDF <-> SDF converter.
    • Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together and (I think) adds some "noise" from OpenDE for positions.
  3. Make the names a little clearer, especially the fact that from_xml and to_xml write to a node, but do not create a new one.
  4. Figure out good policy for handling default methods. If saving to XML, write out default values, or leave them out for brevity (and to leave it open for change)? Might be best to add that as an option.
  5. Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython's spinoff of traits?
CHANGELOG

Changelog for package urdfdom_py

0.3.3 (2017-02-10)

  • Made Chris and Shane the maintainers
  • Added python-lxml to the travis build.
  • Reverted line break (ros/urdfdom#77) now that there is a more generic solution. (#5)
  • Added line break to make errors easier to read. (#4)
  • Contributors: Chris Lalancette, Isaac I.Y. Saito

0.3.1 (2016-02-22)

  • Add travis
  • Add package.xml for ROS release
  • Tweak CMakeLists to reflect migration from urdfdom
  • Contributors: Jackie Kay

0.3.0 (2016-02-16)

  • [urdf_parser_py] Add missing newline
  • color and texture in link material are optional
  • fixed transmission parser to match specification http://wiki.ros.org/urdf/XML/Transmission#A.3Ctransmission.3E_Elements proper unittest for urdf_parser_py
    • added transmission parsing tests
  • Merge pull request #59 from goretkin/goretkin-optional-calibration joint calibration is optional
  • made hardware interface optional in both transmission actuator and joint
  • joint calibration is optional according to http://wiki.ros.org/urdf/XML/joint
  • set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional
  • urdf_parser_py.xml_reflection : python 3 compatibility Substitute \'Exception, e\' with Exception as e. This ensure compatibility with Python 3 and Python 2.6,2.7 . Check https://docs.python.org/3/howto/pyporting.html#capturing-the-currently-raised-exception for more info.
  • urdf_parser_py: Confirmed that both new transmissions are parseable in the same robot. test: Added in specific test for tranmsissions. Have it print the type. \@todo: Make this a unittest.
  • urdf_parser_py: Added attribute preservation for xmlr.RawType (i.e., <gazebo reference=\"...\"/>)
  • urdf_parser_py: Parsing new transmission format works. Need to add in test for old PR2 transmission types. test/calvin: Added in generated Calvin URDF provided by v4hn test/romeo: Reformatted to match Calvin test
  • urdf_parser_py.urdf: Adding duck-typed parsing for ros_control and PR2 transmissions.
  • [urdf_parser_py] Python3 compatibility
  • Contributors: Antonio El Khoury, Doug Sievers, Eric Cousineau, Gustavo Goretkin, Ioan A Sucan, Ioan Sucan, Jackie Kay, Kei Okada, Kelsey Hawkins, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged urdfdom_py at answers.ros.org

urdfdom_py package from urdfdom_py repo

urdfdom_py

Package Summary

Tags No category tags.
Version 0.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/urdf_parser_py.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-26
Dev Status MAINTAINED
Released RELEASED

Package Description

Python implementation of the URDF parser.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Thomas Moulard
  • David Lu
  • Kelsey Hawkins
  • Antonio El Khoury
  • Eric Cousineau
  • Ioan Sucan
  • Jackie Kay

urdf_parser_py

Development Setup

You must manually run setup.py. For catkin development, you can install to $ws/../build/lib/pythonX.Y/dist-packages via

devel_prefix=$(cd $(catkin_find --first-only)/.. && pwd)
cd ../urdf_parser_py
python setup.py install --install-layout deb --prefix $devel_prefix

Not yet sure how to get it to generate catkin-like development installs, which uses __init__.py to point to the development source directory.

Authors

  • Thomas Moulard - urdfpy implementation, integration
  • David Lu - urdf_python implementation, integration
  • Kelsey Hawkins - urdf_parser_python implementation, integration
  • Antonio El Khoury - bugfixes
  • Eric Cousineau - reflection (serialization?) changes

Reflection (or just Serialization?)

This an attempt to generalize the structure of the URDF via reflection to make it easier to extend. This concept is taken from Gazebo's SDF structure, and was done with SDF in mind to a) make an SDF parser and b) make a simple converter between URDF and SDF.

Changes

  • Features:
    • Transmission and basic Gazebo nodes.
    • General aggregate type, for preserving the order of aggregate types (i.e., the URDF robot model, and for the future, SDF models, links with multiple visuals / collisions, etc). This allows for basic checks to see if "scalar" elements are defined multiple times. (We were affected by this at one point with a pose defined twice with different values, screwing up the loading / saving of a model with this API).
    • Dumping to YAML, used for printing to string.
      • Doesn't preserve ordering because of it, but someone posted an issue about this on pyyaml's issue tracker, and I think a few solutions were posted (including one from the author)
  • XML Parsing: minidom has been swapped out with lxml.etree, but it should not be hard to change that back. Maybe Sax could be used for event-driven parsing.
  • API:
    • Loading methods rely primarily on instance methods rather than static methods, mirroring Gazebo's SDF construct-then-load method
    • Renamed static parse_xml() to from_xml(), and renamed load_* methods to from_* if they are static

Todo

  1. Develop a Python SDF API in a sdf module.
    • Maybe make the package itself be robot_model_py so that the respective modules would be robot_model_py.urdf_parser and robot_model_py.sdf_parser?
    • Parse Gazebo's SDF definition files at some point? For speed's sake, parse it and have it generate code to use?
  2. Make a direct, two-way URDF <-> SDF converter.
    • Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together and (I think) adds some "noise" from OpenDE for positions.
  3. Make the names a little clearer, especially the fact that from_xml and to_xml write to a node, but do not create a new one.
  4. Figure out good policy for handling default methods. If saving to XML, write out default values, or leave them out for brevity (and to leave it open for change)? Might be best to add that as an option.
  5. Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython's spinoff of traits?
CHANGELOG

Changelog for package urdfdom_py

0.3.3 (2017-02-10)

  • Made Chris and Shane the maintainers
  • Added python-lxml to the travis build.
  • Reverted line break (ros/urdfdom#77) now that there is a more generic solution. (#5)
  • Added line break to make errors easier to read. (#4)
  • Contributors: Chris Lalancette, Isaac I.Y. Saito

0.3.1 (2016-02-22)

  • Add travis
  • Add package.xml for ROS release
  • Tweak CMakeLists to reflect migration from urdfdom
  • Contributors: Jackie Kay

0.3.0 (2016-02-16)

  • [urdf_parser_py] Add missing newline
  • color and texture in link material are optional
  • fixed transmission parser to match specification http://wiki.ros.org/urdf/XML/Transmission#A.3Ctransmission.3E_Elements proper unittest for urdf_parser_py
    • added transmission parsing tests
  • Merge pull request #59 from goretkin/goretkin-optional-calibration joint calibration is optional
  • made hardware interface optional in both transmission actuator and joint
  • joint calibration is optional according to http://wiki.ros.org/urdf/XML/joint
  • set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional
  • urdf_parser_py.xml_reflection : python 3 compatibility Substitute \'Exception, e\' with Exception as e. This ensure compatibility with Python 3 and Python 2.6,2.7 . Check https://docs.python.org/3/howto/pyporting.html#capturing-the-currently-raised-exception for more info.
  • urdf_parser_py: Confirmed that both new transmissions are parseable in the same robot. test: Added in specific test for tranmsissions. Have it print the type. \@todo: Make this a unittest.
  • urdf_parser_py: Added attribute preservation for xmlr.RawType (i.e., <gazebo reference=\"...\"/>)
  • urdf_parser_py: Parsing new transmission format works. Need to add in test for old PR2 transmission types. test/calvin: Added in generated Calvin URDF provided by v4hn test/romeo: Reformatted to match Calvin test
  • urdf_parser_py.urdf: Adding duck-typed parsing for ros_control and PR2 transmissions.
  • [urdf_parser_py] Python3 compatibility
  • Contributors: Antonio El Khoury, Doug Sievers, Eric Cousineau, Gustavo Goretkin, Ioan A Sucan, Ioan Sucan, Jackie Kay, Kei Okada, Kelsey Hawkins, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged urdfdom_py at answers.ros.org

urdfdom_py package from urdfdom_py repo

urdfdom_py

Package Summary

Tags No category tags.
Version 0.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/urdf_parser_py.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-07-26
Dev Status MAINTAINED
Released RELEASED

Package Description

Python implementation of the URDF parser.

Additional Links

Maintainers

  • Chris Lalancette
  • Shane Loretz

Authors

  • Thomas Moulard
  • David Lu
  • Kelsey Hawkins
  • Antonio El Khoury
  • Eric Cousineau
  • Ioan Sucan
  • Jackie Kay

urdf_parser_py

Development Setup

You must manually run setup.py. For catkin development, you can install to $ws/../build/lib/pythonX.Y/dist-packages via

devel_prefix=$(cd $(catkin_find --first-only)/.. && pwd)
cd ../urdf_parser_py
python setup.py install --install-layout deb --prefix $devel_prefix

Not yet sure how to get it to generate catkin-like development installs, which uses __init__.py to point to the development source directory.

Authors

  • Thomas Moulard - urdfpy implementation, integration
  • David Lu - urdf_python implementation, integration
  • Kelsey Hawkins - urdf_parser_python implementation, integration
  • Antonio El Khoury - bugfixes
  • Eric Cousineau - reflection (serialization?) changes

Reflection (or just Serialization?)

This an attempt to generalize the structure of the URDF via reflection to make it easier to extend. This concept is taken from Gazebo's SDF structure, and was done with SDF in mind to a) make an SDF parser and b) make a simple converter between URDF and SDF.

Changes

  • Features:
    • Transmission and basic Gazebo nodes.
    • General aggregate type, for preserving the order of aggregate types (i.e., the URDF robot model, and for the future, SDF models, links with multiple visuals / collisions, etc). This allows for basic checks to see if "scalar" elements are defined multiple times. (We were affected by this at one point with a pose defined twice with different values, screwing up the loading / saving of a model with this API).
    • Dumping to YAML, used for printing to string.
      • Doesn't preserve ordering because of it, but someone posted an issue about this on pyyaml's issue tracker, and I think a few solutions were posted (including one from the author)
  • XML Parsing: minidom has been swapped out with lxml.etree, but it should not be hard to change that back. Maybe Sax could be used for event-driven parsing.
  • API:
    • Loading methods rely primarily on instance methods rather than static methods, mirroring Gazebo's SDF construct-then-load method
    • Renamed static parse_xml() to from_xml(), and renamed load_* methods to from_* if they are static

Todo

  1. Develop a Python SDF API in a sdf module.
    • Maybe make the package itself be robot_model_py so that the respective modules would be robot_model_py.urdf_parser and robot_model_py.sdf_parser?
    • Parse Gazebo's SDF definition files at some point? For speed's sake, parse it and have it generate code to use?
  2. Make a direct, two-way URDF <-> SDF converter.
    • Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together and (I think) adds some "noise" from OpenDE for positions.
  3. Make the names a little clearer, especially the fact that from_xml and to_xml write to a node, but do not create a new one.
  4. Figure out good policy for handling default methods. If saving to XML, write out default values, or leave them out for brevity (and to leave it open for change)? Might be best to add that as an option.
  5. Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython's spinoff of traits?
CHANGELOG

Changelog for package urdfdom_py

0.3.3 (2017-02-10)

  • Made Chris and Shane the maintainers
  • Added python-lxml to the travis build.
  • Reverted line break (ros/urdfdom#77) now that there is a more generic solution. (#5)
  • Added line break to make errors easier to read. (#4)
  • Contributors: Chris Lalancette, Isaac I.Y. Saito

0.3.1 (2016-02-22)

  • Add travis
  • Add package.xml for ROS release
  • Tweak CMakeLists to reflect migration from urdfdom
  • Contributors: Jackie Kay

0.3.0 (2016-02-16)

  • [urdf_parser_py] Add missing newline
  • color and texture in link material are optional
  • fixed transmission parser to match specification http://wiki.ros.org/urdf/XML/Transmission#A.3Ctransmission.3E_Elements proper unittest for urdf_parser_py
    • added transmission parsing tests
  • Merge pull request #59 from goretkin/goretkin-optional-calibration joint calibration is optional
  • made hardware interface optional in both transmission actuator and joint
  • joint calibration is optional according to http://wiki.ros.org/urdf/XML/joint
  • set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional
  • urdf_parser_py.xml_reflection : python 3 compatibility Substitute \'Exception, e\' with Exception as e. This ensure compatibility with Python 3 and Python 2.6,2.7 . Check https://docs.python.org/3/howto/pyporting.html#capturing-the-currently-raised-exception for more info.
  • urdf_parser_py: Confirmed that both new transmissions are parseable in the same robot. test: Added in specific test for tranmsissions. Have it print the type. \@todo: Make this a unittest.
  • urdf_parser_py: Added attribute preservation for xmlr.RawType (i.e., <gazebo reference=\"...\"/>)
  • urdf_parser_py: Parsing new transmission format works. Need to add in test for old PR2 transmission types. test/calvin: Added in generated Calvin URDF provided by v4hn test/romeo: Reformatted to match Calvin test
  • urdf_parser_py.urdf: Adding duck-typed parsing for ros_control and PR2 transmissions.
  • [urdf_parser_py] Python3 compatibility
  • Contributors: Antonio El Khoury, Doug Sievers, Eric Cousineau, Gustavo Goretkin, Ioan A Sucan, Ioan Sucan, Jackie Kay, Kei Okada, Kelsey Hawkins, S

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urdfdom_py package from urdfdom repo

urdfdom_py

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Package Summary

Tags No category tags.
Version 0.2.9
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros/urdfdom
VCS Type git
VCS Version 0.2.9
Last Updated 2013-09-09
Dev Status MAINTAINED
Released RELEASED

Package Description

A library to access URDFs using the DOM model.

Additional Links

Maintainers

  • Ioan Sucan

Authors

  • Thomas Moulard
  • David Lu
  • Kelsey Hawkins
  • Antonio El Khoury
  • Eric Cousineau
The URDF (U-Robot Description Format) library
  provides core data structures and a simple XML parsers
  for populating the class data structures from an URDF file.

For now, the details of the URDF specifications reside on
  http://ros.org/wiki/urdf



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