Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2023-12-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.2.1 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2023-12-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.2.1 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2023-12-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.2.1 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2023-12-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.2.1 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2021-10-04 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 0.4.6 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2023-12-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.2.1 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2023-12-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.2.1 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2023-12-01 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.2.1 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | foxy-devel |
Last Updated | 2020-03-10 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 1.0.0 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
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 |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 0.3.3 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Develop a Python SDF API in a
sdf
module.- Maybe make the package itself be
robot_model_py
so that the respective modules would berobot_model_py.urdf_parser
androbot_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?
- Maybe make the package itself be
- 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.
- Make the names a little clearer, especially the fact that
from_xml
andto_xml
write to a node, but do not create a new one. - 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
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 |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 0.3.3 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Develop a Python SDF API in a
sdf
module.- Maybe make the package itself be
robot_model_py
so that the respective modules would berobot_model_py.urdf_parser
androbot_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?
- Maybe make the package itself be
- 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.
- Make the names a little clearer, especially the fact that
from_xml
andto_xml
write to a node, but do not create a new one. - 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
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 |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 0.3.3 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Develop a Python SDF API in a
sdf
module.- Maybe make the package itself be
robot_model_py
so that the respective modules would berobot_model_py.urdf_parser
androbot_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?
- Maybe make the package itself be
- 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.
- Make the names a little clearer, especially the fact that
from_xml
andto_xml
write to a node, but do not create a new one. - 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
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 |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 0.3.3 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Develop a Python SDF API in a
sdf
module.- Maybe make the package itself be
robot_model_py
so that the respective modules would berobot_model_py.urdf_parser
androbot_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?
- Maybe make the package itself be
- 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.
- Make the names a little clearer, especially the fact that
from_xml
andto_xml
write to a node, but do not create a new one. - 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/ros/urdf_parser_py.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2021-10-04 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
urdfdom_py | 0.4.6 |
README
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()
tofrom_xml()
, and renamedload_*
methods tofrom_*
if they are static
Todo
- Support additional formats (SDF, drakeURDF, etc.)
- Make a direct, two-way URDF <-> SDF converter.
- Gazebo has the ability to load URDFs and save SDFs, but it lumps everything together
- Consider a cleaner implementation for reflection.
- Make the names a little clearer, especially the fact that
from_xml
andto_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.)
- Make the names a little clearer, especially the fact that
- 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.
- Find a lightweight package that can handle the reflection aspect more elegantly. Enthought traits? IPython’s spinoff of traits?