def test_namespaces_to_string():
xml = XML.from_string(
"""<?xml version="1.0" encoding="UTF-8"?><robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda"><xacro:bamboo/></robot>"""
)
xml_string = xml.to_string(prettify=True)
assert b'xmlns:xacro="http://www.ros.org/wiki/xacro"' in xml_string
assert b'<xacro:bamboo' in xml_string or b'<ns0:bamboo' in xml_string
def test_namespace_expansion_from_file(namespaces_file):
xml = XML.from_file(namespaces_file)
assert xml.root.tag == '{https://ethz.ch}main'
assert list(xml.root)[0].tag == '{https://ethz.ch}item'
assert list(list(xml.root)[0])[0].tag == '{https://ethz.ch}subitem'
assert list(list(list(
xml.root)[0])[0])[0].tag == '{https://sub.ethz.ch}cat'
def test_nested_default_namespaces_from_file(default_nested_namespace_file):
xml = XML.from_file(default_nested_namespace_file)
assert xml.root.attrib['xmlns'] == 'https://ita.arch.ethz.ch/'
assert xml.root.attrib[
'xmlns:xsi'] == 'http://www.w3.org/2001/XMLSchema-instance'
# first element redefines default namespace
assert list(xml.root)[1].attrib['xmlns'] == 'https://ethz.ch'
assert list(xml.root)[1].attrib['name'] == 'item2'
def test_no_root_default_namespace():
xml = XML.from_string("""<?xml version="1.0"?>
<main name="test-xml">
<item name="item1"><subitem /></item>
<item xmlns="https://ethz.ch" name="item2"><subitem /></item>
</main>""")
assert not xml.root.attrib.get('xmlns')
assert list(xml.root)[1].attrib['xmlns'] == 'https://ethz.ch'
assert list(xml.root)[1].attrib['name'] == 'item2'
def test_nested_default_namespaces():
xml = XML.from_string("""<?xml version="1.0"?>
<main xmlns="https://ita.arch.ethz.ch/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="test-xml">
<item name="item1"><subitem /></item>
<item xmlns="https://ethz.ch" name="item2"><subitem /></item>
</main>""")
assert xml.root.attrib['xmlns'] == 'https://ita.arch.ethz.ch/'
assert xml.root.attrib[
'xmlns:xsi'] == 'http://www.w3.org/2001/XMLSchema-instance'
# first element redefines default namespace
assert list(xml.root)[1].attrib['xmlns'] == 'https://ethz.ch'
assert list(xml.root)[1].attrib['name'] == 'item2'
def test_namespace_expansion():
xml = XML.from_string("""<?xml version="1.0"?>
<main xmlns="https://ethz.ch" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="test-xml">
<item>
<subitem xmlns:magic="https://sub.ethz.ch">
<magic:cat />
</subitem>
</item>
</main>""")
assert xml.root.tag == '{https://ethz.ch}main'
assert list(xml.root)[0].tag == '{https://ethz.ch}item'
assert list(list(xml.root)[0])[0].tag == '{https://ethz.ch}subitem'
assert list(list(list(
xml.root)[0])[0])[0].tag == '{https://sub.ethz.ch}cat'
def _dae_mesh_importer(filename):
"""This is a very simple implementation of a DAE/Collada parser.
It merges all solids of the DAE file into one mesh, because
several other parts of the framework don't support multi-meshes per file."""
dae = XML.from_file(filename)
meshes = []
for mesh_xml in dae.root.findall('.//mesh'):
for triangle_set in mesh_xml.findall('triangles'):
triangle_set_data = triangle_set.find('p').text.split()
# Parse vertices
vertices_input = triangle_set.find('input[@semantic="VERTEX"]')
vertices_link = mesh_xml.find('vertices[@id="{}"]/input'.format(vertices_input.attrib['source'][1:]))
positions = mesh_xml.find('source[@id="{}"]/float_array'.format(vertices_link.attrib['source'][1:]))
positions = positions.text.split()
vertices = list(map(float, positions[i:i + 3]) for i in range(0, len(positions), 3))
# Parse faces
faces = list(map(int, triangle_set_data[::2])) # Ignore normals (ever second item is normal index)
faces = list(faces[i:i + 3] for i in range(0, len(faces), 3))
mesh = Mesh.from_vertices_and_faces(vertices, faces)
meshes.append(mesh)
combined_mesh = meshes_join(meshes)
# from compas.datastructures import mesh_transform
# from compas.geometry import Frame
# from compas.geometry import Transformation
# former DAE files have yaxis and zaxis swapped
# frame = Frame([0, 0, 0], [1, 0, 0], [0, 0, 1])
# T = Transformation.from_frame(frame)
# mesh_transform(combined_mesh, T)
return combined_mesh
def test_xml_to_string(sample_xml):
xml = XML.from_string(sample_xml)
strxml = xml.to_string('utf-8')
assert strxml.startswith(b'<Tests>')
def test_xml_from_string(sample_xml):
xml = XML.from_string(sample_xml)
assert xml.root.tag == 'Tests'
def test_xml_from_file(sample_file):
xml = XML.from_file(sample_file)
assert xml.root.tag == 'Tests'
def from_srdf_string(cls, text, robot_model):
"""Create an instance of semantics based on an SRDF string."""
xml = XML.from_string(text)
return cls.from_xml(xml, robot_model)
def from_srdf_file(cls, file, robot_model):
"""Create an instance of semantics based on an SRDF file path or file-like object."""
xml = XML.from_file(file)
return cls.from_xml(xml, robot_model)
def test_no_default_namespace():
xml = XML.from_string(
"""<?xml version="1.0"?><main name="test-xml"></main>""")
assert not xml.root.attrib.get('xmlns')
assert xml.root.attrib['name'] == 'test-xml'
def from_srdf_file(cls, file, urdf_robot):
xml = XML.from_file(file)
return cls(xml.root, urdf_robot)
def _read_robot_name(self, robot_description):
# TODO: Optimize this. We really don't need to parse the full URDF
# only to read the robot's name (only used for local caching)
xml = XML.from_string(robot_description)
return xml.root.attrib['name']
def test_xml_from_string(basic_xml):
xml = XML.from_string(basic_xml)
assert xml.root.tag == 'Tests'
def test_xml_from_url(basic_file_url):
xml = XML.from_file(basic_file_url)
assert xml.root.tag == 'Tests'
def _dae_mesh_importer(filename, precision):
"""This is a very simple implementation of a DAE/Collada parser.
Collada specification: https://www.khronos.org/files/collada_spec_1_5.pdf
"""
dae = XML.from_file(filename)
meshes = []
visual_scenes = dae.root.find('library_visual_scenes')
materials = dae.root.find('library_materials')
effects = dae.root.find('library_effects')
for geometry in dae.root.findall('library_geometries/geometry'):
mesh_xml = geometry.find('mesh')
mesh_id = geometry.attrib['id']
matrix_node = visual_scenes.find('visual_scene/node/instance_geometry[@url="#{}"]/../matrix'.format(mesh_id))
transform = None
if matrix_node is not None:
M = [float(i) for i in matrix_node.text.split()]
# If it's the identity matrix, then ignore, we don't need to transform it
if M != [1., 0., 0., 0.,
0., 1., 0., 0.,
0., 0., 1., 0.,
0., 0., 0., 1.]:
M = M[0:4], M[4:8], M[8:12], M[12:16]
transform = Transformation.from_matrix(M)
# primitive elements can be any combination of:
# lines, linestrips, polygons, polylist, triangles, trifans, tristrips
# The current implementation only supports triangles and polylist of triangular meshes
primitive_element_sets = []
primitive_element_sets.extend(mesh_xml.findall('triangles'))
primitive_element_sets.extend(mesh_xml.findall('polylist'))
if len(primitive_element_sets) == 0:
raise Exception('No primitive elements found (currently only triangles and polylist are supported)')
for primitive_element_set in primitive_element_sets:
primitive_tag = primitive_element_set.tag
primitive_set_data = primitive_element_set.find('p').text.split()
# Try to retrieve mesh colors
mesh_colors = {}
if materials is not None and effects is not None:
try:
instance_effect = None
material_id = primitive_element_set.attrib.get('material')
primitive_count = int(primitive_element_set.attrib['count'])
if material_id is not None:
instance_effect = materials.find('material[@id="{}"]/instance_effect'.format(material_id))
if instance_effect is not None:
instance_effect_id = instance_effect.attrib['url'][1:]
colors = effects.findall('effect[@id="{}"]/profile_COMMON/technique/phong/*/color'.format(instance_effect_id))
for color_node in colors:
rgba = [float(i) for i in color_node.text.split()]
mesh_colors['mesh_color.{}'.format(color_node.attrib['sid'])] = rgba
except Exception:
LOGGER.exception('Exception while loading materials, all materials of mesh file %s will be ignored ', filename)
# Parse vertices
all_offsets = sorted([int(i.attrib['offset']) for i in primitive_element_set.findall('input[@offset]')])
if not all_offsets:
raise Exception('Primitive element node does not contain offset information! Primitive tag={}'.format(primitive_tag))
vertices_input = primitive_element_set.find('input[@semantic="VERTEX"]')
vertices_id = vertices_input.attrib['source'][1:]
vertices_link = mesh_xml.find('vertices[@id="{}"]/input'.format(vertices_id))
positions = mesh_xml.find('source[@id="{}"]/float_array'.format(vertices_link.attrib['source'][1:]))
positions = positions.text.split()
vertices = [[float(p) for p in positions[i:i + 3]] for i in range(0, len(positions), 3)]
# Parse faces
# Every nth element is a vertex key, we ignore the rest based on the offsets defined
# Usually, every second item is the normal, but there can be other items offset in there (vertex tangents, etc)
skip_step = 1 + all_offsets[-1]
if primitive_tag == 'triangles':
vcount = [3] * primitive_count
elif primitive_tag == 'polylist':
vcount = [int(v) for v in primitive_element_set.find('vcount').text.split()]
if len(vcount) != primitive_count:
raise Exception('Primitive count does not match vertex per face count, vertex input id={}'.format(vertices_id))
fkeys = [int(f) for f in primitive_set_data[::skip_step]]
faces = []
for i in range(primitive_count):
a = i * vcount[i]
b = a + vcount[i]
faces.append(fkeys[a:b])
# Rebuild vertices and faces using the same logic that other importers
# use remapping everything based on a selected precision
index_key = OrderedDict()
vertex = OrderedDict()
for i, xyz in enumerate(vertices):
key = geometric_key(xyz, precision)
index_key[i] = key
vertex[key] = xyz
key_index = {key: index for index, key in enumerate(vertex)}
index_index = {index: key_index[key] for index, key in iter(index_key.items())}
vertices = [xyz for xyz in iter(vertex.values())]
faces = [[index_index[index] for index in face] for face in faces]
mesh = Mesh.from_vertices_and_faces(vertices, faces)
if mesh_colors:
mesh.attributes.update(mesh_colors)
if transform:
mesh_transform(mesh, transform)
meshes.append(mesh)
return meshes
def test_xml_to_pretty_string(sample_xml):
xml = XML.from_string(sample_xml)
prettyxml = xml.to_string(prettify=True)
assert b"\n " in prettyxml
def from_srdf_string(cls, text, urdf_robot):
xml = XML.from_string(text)
return cls(xml.root, urdf_robot)
def read_robot_name_and_uris_from_urdf(self, robot_description):
xml = XML.from_string(robot_description)
robot_name = xml.root.attrib['name']
uris = [mesh.attrib['filename'] for mesh in xml.root.iter('mesh')
if mesh.attrib['filename'] != '']
return robot_name, uris
