URDF

class compas.files.URDF(xml=None)[source]

Bases: object

Parse 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 (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.

Methods

__init__([xml])

Initialize self.

from_file(source)

Parse a URDF file from a file path or file-like object.

from_robot(robot)

from_string(text)

Parse URDF from a string.

read(source)

Parse a URDF file from a file path or file-like object.

to_file([destination, prettify])

Writes the string representation of this URDF instance, including all sub-elements, to the destination.

to_string([encoding, prettify])

Generate a string representation of this URDF instance, including all sub-elements.

write([destination, prettify])

Writes the string representation of this URDF instance, including all sub-elements, to the destination.