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fix missing mimic tags and ros2_control tags Closes #57 #58 #59

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fix missing mimic tags and ros2_control tags Closes #57 #58 #59

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1a94796
fix missing mimic tags
OpenGHz Mar 13, 2025
d00a0d8
add load and write ros2_control tags
OpenGHz Mar 13, 2025
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18 changes: 17 additions & 1 deletion src/yourdfpy/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
import logging
import numpy as np
from dataclasses import dataclass, field, is_dataclass
from typing import Dict, List, Optional, Union
from typing import Dict, List, Optional, Union, Any
from functools import partial

import trimesh
Expand Down Expand Up @@ -318,6 +318,7 @@ class Robot:
materials: List[Material] = field(default_factory=list)
transmission: List[str] = field(default_factory=list)
gazebo: List[str] = field(default_factory=list)
ros2_controls: List[Any] = field(default_factory=list)

def __eq__(self, other):
if not isinstance(other, Robot):
Expand Down Expand Up @@ -1483,6 +1484,8 @@ def _parse_mimic(xml_element):
)

def _write_mimic(self, xml_parent, mimic):
if mimic is None:
return
etree.SubElement(
xml_parent,
"mimic",
Expand Down Expand Up @@ -2153,8 +2156,17 @@ def _write_joint(self, xml_parent, joint):
self._write_origin(xml_element, joint.origin)
self._write_axis(xml_element, joint.axis)
self._write_limit(xml_element, joint.limit)
self._write_mimic(xml_element, joint.mimic)
self._write_dynamics(xml_element, joint.dynamics)

def _parse_ros2_control(xml_element):
return xml_element

def _write_ros2_control(self, xml_parent, ros2_control):
if ros2_control is None:
return
xml_parent.append(ros2_control)

@staticmethod
def _parse_robot(xml_element):
robot = Robot(name=xml_element.attrib["name"])
Expand All @@ -2165,6 +2177,8 @@ def _parse_robot(xml_element):
robot.joints.append(URDF._parse_joint(j))
for m in xml_element.findall("material"):
robot.materials.append(URDF._parse_material(m))
for c in xml_element.findall("ros2_control"):
robot.ros2_controls.append(URDF._parse_ros2_control(c))
return robot

def _validate_robot(self, robot):
Expand All @@ -2188,6 +2202,8 @@ def _write_robot(self, robot):
self._write_joint(xml_element, joint)
for material in robot.materials:
self._write_material(xml_element, material)
for ros2_control in robot.ros2_controls:
self._write_ros2_control(xml_element, ros2_control)

return xml_element

Expand Down