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.

• URDF

• URDF Model wiki

• URDF XSD Schema

Methods

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.