pcg_gazebo.parsers

pcg_gazebo.parsers

Parsing module to generated and convert SDF, URDF and SDF Configuration formats.

Sources

parse_sdf

parse_sdf(input_xml)
Parse an XML file in the SDF format and generates an pcg_gazebo SDF instance.

Input arguments

  • input_xml (type: str): Filename of the SDF file or SDF XML formatted text.

Returns

pcg_gazebo.parsers.types.XMLBase object.

parse_urdf

parse_urdf(input_xml)
Parse an XML file in the URDF format and generates an pcg_gazebo URDF instance.

Input arguments

  • input_xml (type: str): Filename of the URDF file or URDF XML formatted text.

Returns

pcg_gazebo.parsers.types.XMLBase object.

parse_sdf_config

parse_sdf_config(input_xml)
Parse an XML file in the SDF Configuration format and generates an pcg_gazebo SDF Configuration instance.

Input arguments

  • input_xml (type: str): Filename of the SDF Configuration file or SDF Configuration XML formatted text.

Returns

pcg_gazebo.parsers.types.XMLBase object.

parse_xml

parse_xml(input_xml, type='sdf')
Parse an XML file into an collections.OrderedDict.

Input arguments

  • input_xml (type: str): Filename of the XML file or XML formatted text.
  • type (type: str): Type of XML format used in the input file, options are sdf, urdf or sdf_config.

Returns

collections.OrderedDict: Dictionary where the XML tags are the keys.

parse_xml_str

parse_xml_str(xml_str, type='sdf')
Parse an XML formatted string into an collections.OrderedDict.

Input arguments

  • input_xml (type: str): XML formatted text.
  • type (type: str): Type of XML format used in the input file, options are sdf, urdf or sdf_config.

Returns

collections.OrderedDict: Dictionary where the XML tags are the keys.

parse_xml_dict

parse_xml_dict(xml_dict, type='sdf')
Converts an collections.OrderedDict created from a XML file and return an SDF, URDF or SDF Configuration pcg_gazebo element.

Input arguments

  • xml_dict (type: collections.OrderedDict): XML contents.
  • type (type: str): Type of XML format used in the input file, options are sdf, urdf or sdf_config.

Returns

pcg_gazebo.parsers.types.XMLBase object.

convert_to_dict

convert_to_dict(xml_dict)
Convert the xmltodict output into a dictionary that can be parsed into a pcg_gazebo.parsers.types.XMLBase.

Input arguments

  • xml_dict (type: collections.OrderedDict): XML content in dictionary form.

Returns

dict: Formatted XML dictionary.

convert_from_string

convert_from_string(str_input_xml)
Convert a string into a Python data structure type.

Input arguments

  • str_input_xml (type: str): Input string

Returns

bool, int, float, list of float or str.

sdf2urdf

sdf2urdf(sdf)
Recursively convert a SDF pcg_gazebo element and its child elements into an URDF pcg_gazebo element.

Input arguments

  • sdf (type: pcg_gazebo.parsers.types.XMLBase): Valid SDF element

Returns

pcg_gazebo.parsers.types.XMLBase as an URDF element.

urdf2sdf

urdf2sdf(urdf)
Recursively convert an URDF pcg_gazebo element and its child elements into a SDF pcg_gazebo element.

Input arguments

  • urdf (type: pcg_gazebo.parsers.types.XMLBase): Valid URDF element

Returns

pcg_gazebo.parsers.types.XMLBase as a SDF element.