def robot(self, robot):
robot_element = robot.get_urdf_element()
root = robot_element.get_root()
robot_element.add_children(root)
self.xml = XML()
self.xml.root = root
self._robot = robot
def from_file(cls, source):
"""Parse a URDF file from a file path or file-like object.
Parameters
----------
source : str or file
File path or file-like object.
Examples
--------
>>> urdf = URDF.from_file(compas.get("ur5.xacro"))
"""
return cls(XML.from_file(source))
def from_string(cls, text):
"""Parse URDF from a string.
Parameters
----------
text : :obj:`str`
XML string.
Examples
--------
>>> urdf = URDF.from_string('<robot name="panda"/>')
"""
return cls(XML.from_string(text))
def from_file(cls, source):
"""Parse a URDF file from a file path or file-like object.
Parameters
----------
source : str or file
File path or file-like object.
Examples
--------
>>> from compas.files import URDF
>>> urdf = URDF.from_file('/urdf/ur5.urdf')
"""
return cls(XML.from_file(source))
def from_file(cls, source):
"""Construct a URDF from a file path or file-like object.
Parameters
----------
source : str | file
File path or file-like object.
Returns
-------
:class:`compas.files.URDF`
Examples
--------
>>> urdf = URDF.from_file(compas.get("ur_description/urdf/ur5.urdf"))
"""
return cls(XML.from_file(source))
def from_string(cls, text):
"""Construct a URDF from a string.
Parameters
----------
text : str
XML string.
Returns
-------
:class:`compas.files.URDF`
Examples
--------
>>> urdf = URDF.from_string('<robot name="panda"/>')
"""
return cls(XML.from_string(text))
class URDF(object):
"""Class for working with URDF files.
This class abstracts away the underlying XML of the Unified Robot
Description Format (`URDF`_) and represents its as an object graph.
Attributes
----------
xml : :class:`XML`
Instance of the XML reader/parser class.
robot : object
Root element of the URDF model, i.e. a robot instance.
References
----------
A detailed description of the model is available on the `URDF Model wiki`_.
This package parses URDF v1.0 according to the `URDF XSD Schema`_.
* `URDF`_
* `URDF Model wiki`_
* `URDF XSD Schema`_
.. _URDF: http://wiki.ros.org/urdf
.. _URDF Model wiki: http://wiki.ros.org/urdf/XML/model
.. _URDF XSD Schema: https://github.com/ros/urdfdom/blob/master/xsd/urdf.xsd
"""
def __init__(self, xml=None):
self.xml = xml
self._robot = None
@property
def robot(self):
if self._robot is None:
default_namespace = self.xml.root.attrib.get('xmlns')
self._robot = URDFParser.parse_element(
self.xml.root,
_tag_without_namespace(self.xml.root, default_namespace),
default_namespace)
return self._robot
@robot.setter
def robot(self, robot):
robot_element = robot.get_urdf_element()
root = robot_element.get_root()
robot_element.add_children(root)
self.xml = XML()
self.xml.root = root
self._robot = robot
@classmethod
def from_robot(cls, robot):
"""Construct a URDF from a robot.
Parameters
----------
robot : :class:`compas.robots.RobotModel`
Returns
-------
:class:`compas.files.URDF`
"""
urdf = cls()
urdf.robot = robot
return urdf
@classmethod
def from_file(cls, source):
"""Construct a URDF from a file path or file-like object.
Parameters
----------
source : str | file
File path or file-like object.
Returns
-------
:class:`compas.files.URDF`
Examples
--------
>>> urdf = URDF.from_file(compas.get("ur_description/urdf/ur5.urdf"))
"""
return cls(XML.from_file(source))
read = from_file
@classmethod
def from_string(cls, text):
"""Construct a URDF from a string.
Parameters
----------
text : str
XML string.
Returns
-------
:class:`compas.files.URDF`
Examples
--------
>>> urdf = URDF.from_string('<robot name="panda"/>')
"""
return cls(XML.from_string(text))
def to_file(self, destination=None, prettify=False):
"""Writes the string representation of this URDF instance,
including all sub-elements, to the ``destination``.
Parameters
----------
destination : str, optional
Filepath where the URDF should be written. Defaults to
the filepath of the associated XML object.
prettify : bool, optional
Whether the string should add whitespace for legibility.
Returns
-------
None
"""
if destination:
self.xml.filepath = destination
self.xml.write(prettify=prettify)
def to_string(self, encoding='utf-8', prettify=False):
"""Generate a string representation of this URDF instance,
including all sub-elements.
Parameters
----------
encoding : str, optional
Output encoding.
prettify : bool, optional
Whether the string should add whitespace for legibility.
Returns
-------
str
String representation of the URDF.
"""
return self.xml.to_string(encoding=encoding, prettify=prettify)
def write(self, destination=None, prettify=False):
"""Writes the string representation of this URDF instance,
including all sub-elements, to the ``destination``.
Parameters
----------
destination : str, optional
Filepath where the URDF should be written.
Defaults to the filepath of the associated XML object.
prettify : bool, optional
Whether the string should add whitespace for legibility.
Returns
-------
None
"""
self.to_file(destination=destination, prettify=prettify)