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Add support for quaternion in URDF #84

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Add support for quaternion in URDF #84

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a60ebef
parse quat_xyzw
Jan 20, 2024
3ea149f
add test
Jan 20, 2024
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11 changes: 8 additions & 3 deletions src/urdf_parser_py/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,22 @@

xmlr.add_type('element_link', xmlr.SimpleElementType('link', str))
xmlr.add_type('element_xyz', xmlr.SimpleElementType('xyz', 'vector3'))
xmlr.add_type('element_quat_xyzw', xmlr.SimpleElementType('quat_xyzw', 'vector4'))

verbose = True


class Pose(xmlr.Object):
def __init__(self, xyz=None, rpy=None):
def __init__(self, xyz=None, rpy=None, quat_xyzw=None):
self.xyz = xyz
self.rpy = rpy
self.quat_xyzw = quat_xyzw

def check_valid(self):
assert (self.xyz is None or len(self.xyz) == 3) and \
(self.rpy is None or len(self.rpy) == 3)
(self.rpy is None or len(self.rpy) == 3) and \
(self.quat_xyzw is None or len(self.quat_xyzw) == 4) and \
(self.rpy is None or self.quat_xyzw is None)

# Aliases for backwards compatibility
@property
Expand All @@ -38,7 +42,8 @@ def position(self, value): self.xyz = value

xmlr.reflect(Pose, tag='origin', params=[
xmlr.Attribute('xyz', 'vector3', False, default=[0, 0, 0]),
xmlr.Attribute('rpy', 'vector3', False, default=[0, 0, 0])
xmlr.Attribute('rpy', 'vector3', False, default=[0, 0, 0]),
xmlr.Attribute('quat_xyzw', 'vector4', False)
])


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7 changes: 6 additions & 1 deletion src/urdf_parser_py/xml_reflection/core.py
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Original file line number Diff line number Diff line change
Expand Up @@ -521,7 +521,12 @@ def get_element_path(element):
# and find where the problematic parent element.
for attribute in map(self.attribute_map.get, unset_attributes):
try:
attribute.set_default(obj)
if attribute.xml_var == 'rpy':
if 'quat_xyzw' in unset_attributes:
attribute.set_default(obj)
else:
attribute.set_default(obj)

except ParseError:
raise
except Exception as e:
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34 changes: 34 additions & 0 deletions test/test_urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -273,6 +273,7 @@ def test_robot_link_defaults(self):
origin = robot.links[0].inertial.origin
self.assertEqual(origin.xyz, [0, 0, 0])
self.assertEqual(origin.rpy, [0, 0, 0])
self.assertEqual(origin.quat_xyzw, None)

def test_robot_link_defaults_xyz_set(self):
xml = '''<?xml version="1.0"?>
Expand All @@ -288,7 +289,40 @@ def test_robot_link_defaults_xyz_set(self):
origin = robot.links[0].inertial.origin
self.assertEqual(origin.xyz, [1, 2, 3])
self.assertEqual(origin.rpy, [0, 0, 0])
self.assertEqual(origin.quat_xyzw, None)

def test_robot_link_defaults_xyz_rpy_set(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
<link name="test_link">
<inertial>
<mass value="10.0"/>
<origin xyz="1 2 3" rpy="1 2 3"/>
</inertial>
</link>
</robot>'''
robot = self.parse(xml)
origin = robot.links[0].inertial.origin
self.assertEqual(origin.xyz, [1, 2, 3])
self.assertEqual(origin.rpy, [1, 2, 3])
self.assertEqual(origin.quat_xyzw, None)

def test_robot_link_defaults_xyz_quat_xyzw_set(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
<link name="test_link">
<inertial>
<mass value="10.0"/>
<origin xyz="1 2 3" quat_xyzw="0.1 0.2 0.3 0.4"/>
</inertial>
</link>
</robot>'''
robot = self.parse(xml)
origin = robot.links[0].inertial.origin
self.assertEqual(origin.xyz, [1, 2, 3])
self.assertEqual(origin.rpy, None)
self.assertEqual(origin.quat_xyzw, [0.1, 0.2, 0.3, 0.4])

def test_xml_with_UTF8_encoding(self):
xml = b'''<?xml version="1.0" encoding="UTF-8"?>
<robot name="test">
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