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faggAlexanderFabisch
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AlexanderFabisch
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Strip comments from URDF XML before parsing
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Lines changed: 304 additions & 2 deletions

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‎pytransform3d/test/test_urdf.py‎

Lines changed: 303 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1276,3 +1276,306 @@ def test_rotation_matrix_conversion():
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]
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),
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)
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def test_xml_comment():
1282+
urdf = """
1283+
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
1285+
<!-- | This document was autogenerated by xacro from ur10_robot.urdf.xacro | -->
1286+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
1287+
<!-- =================================================================================== -->
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<robot name="ur10" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- common stuff -->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="ros_control">
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<!--robotNamespace>/</robotNamespace-->
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<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
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</plugin>
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<!--
1296+
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>1.0</updateRate>
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<timeout>5</timeout>
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<powerStateTopic>power_state</powerStateTopic>
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<powerStateRate>10.0</powerStateRate>
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<fullChargeCapacity>87.78</fullChargeCapacity>
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<dischargeRate>-474</dischargeRate>
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<chargeRate>525</chargeRate>
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<dischargeVoltage>15.52</dischargeVoltage>
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<chargeVoltage>16.41</chargeVoltage>
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</plugin>
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-->
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</gazebo>
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<!-- ur10 -->
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<!-- arm -->
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<link name="base_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/Base.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="4.0"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
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</inertial>
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</link>
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<joint name="shoulder_pan_joint" type="revolute">
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<parent link="base_link"/>
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<child link="shoulder_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1273"/>
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<axis xyz="0 0 1"/>
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<limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="shoulder_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="7.778"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0314743125769" ixy="0.0" ixz="0.0" iyy="0.0314743125769" iyz="0.0" izz="0.021875625"/>
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</inertial>
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</link>
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<joint name="shoulder_lift_joint" type="revolute">
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<parent link="shoulder_link"/>
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<child link="upper_arm_link"/>
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<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.220941 0.0"/>
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<axis xyz="0 1 0"/>
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<limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_arm_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/upper_arm.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="12.93"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.306"/>
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<inertia ixx="0.421753803798" ixy="0.0" ixz="0.0" iyy="0.421753803798" iyz="0.0" izz="0.036365625"/>
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</inertial>
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</link>
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<joint name="elbow_joint" type="revolute">
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<parent link="upper_arm_link"/>
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<child link="forearm_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1719 0.612"/>
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<axis xyz="0 1 0"/>
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<limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="forearm_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="3.87"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.28615"/>
1413+
<inertia ixx="0.111069694097" ixy="0.0" ixz="0.0" iyy="0.111069694097" iyz="0.0" izz="0.010884375"/>
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</inertial>
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</link>
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<joint name="wrist_1_joint" type="revolute">
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<parent link="forearm_link"/>
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<child link="wrist_1_link"/>
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<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.5723"/>
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<axis xyz="0 1 0"/>
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<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_1_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/wrist_1.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.96"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
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</inertial>
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</link>
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<joint name="wrist_2_joint" type="revolute">
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<parent link="wrist_1_link"/>
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<child link="wrist_2_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.1149 0.0"/>
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<axis xyz="0 0 1"/>
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<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_2_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/wrist_2.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.96"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
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</inertial>
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</link>
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<joint name="wrist_3_joint" type="revolute">
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<parent link="wrist_2_link"/>
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<child link="wrist_3_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1157"/>
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<axis xyz="0 1 0"/>
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<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_3_link">
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<visual>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://ur_description/meshes/ur10/collision/wrist_3.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.202"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.000526462289415" ixy="0.0" ixz="0.0" iyy="0.000526462289415" iyz="0.0" izz="0.000568125"/>
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</inertial>
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</link>
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<joint name="ee_fixed_joint" type="fixed">
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<parent link="wrist_3_link"/>
1502+
<child link="ee_link"/>
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<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
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</joint>
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<link name="ee_link">
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<collision>
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<geometry>
1508+
<box size="0.01 0.01 0.01"/>
1509+
</geometry>
1510+
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
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</collision>
1512+
</link>
1513+
<transmission name="shoulder_pan_trans">
1514+
<type>transmission_interface/SimpleTransmission</type>
1515+
<joint name="shoulder_pan_joint">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="shoulder_pan_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
1522+
<transmission name="shoulder_lift_trans">
1523+
<type>transmission_interface/SimpleTransmission</type>
1524+
<joint name="shoulder_lift_joint">
1525+
<hardwareInterface>PositionJointInterface</hardwareInterface>
1526+
</joint>
1527+
<actuator name="shoulder_lift_motor">
1528+
<mechanicalReduction>1</mechanicalReduction>
1529+
</actuator>
1530+
</transmission>
1531+
<transmission name="elbow_trans">
1532+
<type>transmission_interface/SimpleTransmission</type>
1533+
<joint name="elbow_joint">
1534+
<hardwareInterface>PositionJointInterface</hardwareInterface>
1535+
</joint>
1536+
<actuator name="elbow_motor">
1537+
<mechanicalReduction>1</mechanicalReduction>
1538+
</actuator>
1539+
</transmission>
1540+
<transmission name="wrist_1_trans">
1541+
<type>transmission_interface/SimpleTransmission</type>
1542+
<joint name="wrist_1_joint">
1543+
<hardwareInterface>PositionJointInterface</hardwareInterface>
1544+
</joint>
1545+
<actuator name="wrist_1_motor">
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<mechanicalReduction>1</mechanicalReduction>
1547+
</actuator>
1548+
</transmission>
1549+
<transmission name="wrist_2_trans">
1550+
<type>transmission_interface/SimpleTransmission</type>
1551+
<joint name="wrist_2_joint">
1552+
<hardwareInterface>PositionJointInterface</hardwareInterface>
1553+
</joint>
1554+
<actuator name="wrist_2_motor">
1555+
<mechanicalReduction>1</mechanicalReduction>
1556+
</actuator>
1557+
</transmission>
1558+
<transmission name="wrist_3_trans">
1559+
<type>transmission_interface/SimpleTransmission</type>
1560+
<joint name="wrist_3_joint">
1561+
<hardwareInterface>PositionJointInterface</hardwareInterface>
1562+
</joint>
1563+
<actuator name="wrist_3_motor">
1564+
<mechanicalReduction>1</mechanicalReduction>
1565+
</actuator>
1566+
</transmission>
1567+
<link name="world"/>
1568+
<joint name="world_joint" type="fixed">
1569+
<parent link="world"/>
1570+
<child link="base_link"/>
1571+
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
1572+
</joint>
1573+
</robot>
1574+
"""
1575+
(robot_name, links, _) = parse_urdf(urdf)
1576+
1577+
assert robot_name == 'ur10'
1578+
assert len(links) == 9
1579+
assert links[0].name == 'base_link'
1580+
1581+

‎pytransform3d/urdf.py‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -406,7 +406,7 @@ def parse_urdf(urdf_xml, mesh_path=None, package_dir=None, strict_check=True):
406406
# declaration. Hence, we have to convert them to bytes first.
407407
urdf_xml = bytes(urdf_xml.encode("utf-8"))
408408
try:
409-
root = etree.XML(urdf_xml, parser=etree.XMLParser(recover=True))
409+
root = etree.XML(urdf_xml, parser=etree.XMLParser(recover=True, remove_comments=True))
410410
except etree.XMLSyntaxError as e:
411411
raise UrdfException("Invalid XML.") from e
412412

@@ -476,7 +476,6 @@ def _normalize_namespace(root):
476476
for element in root.iter():
477477
element.tag = re.sub(r"\{.*?\}", "", element.tag)
478478

479-
480479
def _parse_material(material):
481480
"""Parse material."""
482481
if "name" not in material.attrib:

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