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

Attributes

robot

Methods

from_file	Parse a URDF file from a file path or file-like object.
from_robot
from_string	Parse URDF from a string.
read	Parse a URDF file from a file path or file-like object.
to_file	Writes the string representation of this URDF instance, including all sub-elements, to the destination.
to_string	Generate a string representation of this URDF instance, including all sub-elements.
write	Writes the string representation of this URDF instance, including all sub-elements, to the destination.