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Convert from SDF file

Converting from SDF file

import os
from pcg_gazebo.parsers import parse_xml

def download_sdf(url, model_name):
    output_sdf = '/tmp/{}.sdf'.format(model_name)
    os.system('wget {} -O {}'.format(url, output_sdf))

    with open(output_sdf, 'r') as f:
        for line in f:
            print(line.replace('\n', ''))

    return output_sdf

Bookshelf

url = 'https://bitbucket.org/osrf/gazebo_models/raw/9533d55593096e7ebdfb539e99d2bf9cb1bff347/bookshelf/model.sdf'
obj = parse_xml(download_sdf(url, 'bookshelf'), type='sdf')

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="bookshelf">
    <static>true</static>
    <link name="link">
      <inertial>
        <mass>1.0</mass>
      </inertial>
      <collision name="back">
        <pose>0 0.005 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.9 0.01 1.2</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual1">
        <pose>0 0.005 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.9 0.01 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="left_side">
        <pose>0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual2">
        <pose>0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="right_side">
        <pose>-0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual3">
        <pose>-0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="bottom">
        <pose>0 -0.195 0.03 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.06</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual4">
        <pose>0 -0.195 0.03 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.06</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="top">
        <pose>0 -0.195 1.19 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual5">
        <pose>0 -0.195 1.19 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="low_shelf">
        <pose>0 -0.195 0.43 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual6">
        <pose>0 -0.195 0.43 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="high_shelf">
        <pose>0 -0.195 0.8 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual7">
        <pose>0 -0.195 0.8 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>

print(obj)

<sdf version="1.5">
  <model name="bookshelf">
    <link name="link">
      <inertial>
        <mass>1.0</mass>
        <inertia>
          <ixz>0</ixz>
          <iyz>0</iyz>
          <iyy>0</iyy>
          <izz>0</izz>
          <ixx>0</ixx>
          <ixy>0</ixy>
        </inertia>
        <pose frame="">0 0 0 0 0 0</pose>
      </inertial>
      <visual name="visual1">
        <pose frame="">0.0 0.005 0.6 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.9 0.01 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Wood</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name="visual2">
        <pose frame="">0.45 -0.195 0.6 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Wood</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name="visual3">
        <pose frame="">-0.45 -0.195 0.6 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Wood</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name="visual4">
        <pose frame="">0.0 -0.195 0.03 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.06</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Wood</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name="visual5">
        <pose frame="">0.0 -0.195 1.19 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Wood</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name="visual6">
        <pose frame="">0.0 -0.195 0.43 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Wood</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <visual name="visual7">
        <pose frame="">0.0 -0.195 0.8 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Wood</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <collision name="back">
        <pose frame="">0.0 0.005 0.6 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.9 0.01 1.2</size>
          </box>
        </geometry>
      </collision>
      <collision name="left_side">
        <pose frame="">0.45 -0.195 0.6 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
      </collision>
      <collision name="right_side">
        <pose frame="">-0.45 -0.195 0.6 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
      </collision>
      <collision name="bottom">
        <pose frame="">0.0 -0.195 0.03 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.06</size>
          </box>
        </geometry>
      </collision>
      <collision name="top">
        <pose frame="">0.0 -0.195 1.19 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <collision name="low_shelf">
        <pose frame="">0.0 -0.195 0.43 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <collision name="high_shelf">
        <pose frame="">0.0 -0.195 0.8 0.0 0.0 0.0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
    </link>
    <static>1</static>
  </model>
</sdf>

Beer can

url = 'https://bitbucket.org/osrf/gazebo_models/raw/9533d55593096e7ebdfb539e99d2bf9cb1bff347/beer/model.sdf'
obj = parse_xml(download_sdf(url, 'beer'), type='sdf')

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="beer">
    <link name="link">
      <pose>0 0 0.115 0 0 0</pose>
      <inertial>
        <mass>0.390</mass>
        <inertia>
          <ixx>0.00058</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00058</iyy>
          <iyz>0</iyz>
          <izz>0.00019</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.055000</radius>
            <length>0.230000</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.055000</radius>
            <length>0.230000</length>
          </cylinder>
        </geometry>
        <material>
          <script>
            <uri>model://beer/materials/scripts</uri>
            <uri>model://beer/materials/textures</uri>
            <name>Beer/Diffuse</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>

print(obj)

<sdf version="1.5">
  <model name="beer">
    <link name="link">
      <pose frame="">0.0 0.0 0.115 0.0 0.0 0.0</pose>
      <inertial>
        <mass>0.39</mass>
        <inertia>
          <ixz>0.0</ixz>
          <iyz>0.0</iyz>
          <iyy>0.00058</iyy>
          <izz>0.00019</izz>
          <ixx>0.00058</ixx>
          <ixy>0.0</ixy>
        </inertia>
        <pose frame="">0 0 0 0 0 0</pose>
      </inertial>
      <visual name="visual">
        <geometry>
          <cylinder>
            <length>0.23</length>
            <radius>0.055</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Beer/Diffuse</name>
            <uri>model://beer/materials/scripts</uri>
            <uri>model://beer/materials/textures</uri>
          </script>
        </material>
      </visual>
      <collision name="collision">
        <geometry>
          <cylinder>
            <length>0.23</length>
            <radius>0.055</radius>
          </cylinder>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>