@@ -14,8 +14,11 @@ import (
1414 "go.viam.com/rdk/utils"
1515)
1616
17- // Config represents all supported fields in a Universal Robot Description Format (URDF) file.
18- type Config struct {
17+ // Extension is the file extension associated with URDF files.
18+ const Extension string = "urdf"
19+
20+ // ModelConfig represents all supported fields in a Universal Robot Description Format (URDF) file.
21+ type ModelConfig struct {
1922 XMLName xml.Name `xml:"robot"`
2023 Name string `xml:"name,attr"`
2124 Links []link `xml:"link"`
@@ -41,9 +44,9 @@ type joint struct {
4144 Limit * limit `xml:"limit,omitempty"`
4245}
4346
44- // NewConfigFromWorldState creates a urdf.Config struct which can be marshalled into xml and will be a
47+ // NewModelFromWorldState creates a urdf.Config struct which can be marshalled into xml and will be a
4548// valid .urdf file representing the geometries in the given worldstate.
46- func NewConfigFromWorldState (ws * referenceframe.WorldState , name string ) (* Config , error ) {
49+ func NewModelFromWorldState (ws * referenceframe.WorldState , name string ) (* ModelConfig , error ) {
4750 // the link we initialize this list with represents the world frame
4851 links := []link {{Name : referenceframe .World }}
4952 joints := make ([]joint , 0 )
@@ -68,40 +71,24 @@ func NewConfigFromWorldState(ws *referenceframe.WorldState, name string) (*Confi
6871 Child : frame {g .Label ()},
6972 })
7073 }
71- return & Config {
74+ return & ModelConfig {
7275 Name : name ,
7376 Links : links ,
7477 Joints : joints ,
7578 }, nil
7679}
7780
78- // ParseXMLFile will read a given file and parse the contained URDF XML data into an equivalent Model.
79- func ParseXMLFile (filename , modelName string ) (referenceframe.Model , error ) {
80- //nolint:gosec
81- xmlData , err := os .ReadFile (filename )
82- if err != nil {
83- return nil , errors .Wrap (err , "Failed to read URDF file" )
84- }
85-
86- mc , err := ConvertURDFToConfig (xmlData , modelName )
87- if err != nil {
88- return nil , err
89- }
90-
91- return mc .ParseConfig (modelName )
92- }
93-
94- // ConvertURDFToConfig will transfer the given URDF XML data into an equivalent ModelConfig. Direct unmarshaling in the
81+ // UnmarshalModelXML will transfer the given URDF XML data into an equivalent ModelConfig. Direct unmarshaling in the
9582// same fashion as ModelJSON is not possible, as URDF data will need to be evaluated to accommodate differences
9683// between the two kinematics encoding schemes.
97- func ConvertURDFToConfig (xmlData []byte , modelName string ) (* referenceframe.ModelConfig , error ) {
84+ func UnmarshalModelXML (xmlData []byte , modelName string ) (* referenceframe.ModelConfig , error ) {
9885 // empty data probably means that the read URDF has no actionable information
9986 if len (xmlData ) == 0 {
10087 return nil , referenceframe .ErrNoModelInformation
10188 }
10289
103- mc := & referenceframe.ModelConfig {}
104- urdf := & Config {}
90+ mc := & referenceframe.ModelConfig {OriginalFile : & referenceframe. ModelFile { Bytes : xmlData , Extension : Extension } }
91+ urdf := & ModelConfig {}
10592 err := xml .Unmarshal (xmlData , urdf )
10693 if err != nil {
10794 return nil , errors .Wrap (err , "Failed to convert URDF data to equivalent URDFConfig struct" )
@@ -242,3 +229,19 @@ func ConvertURDFToConfig(xmlData []byte, modelName string) (*referenceframe.Mode
242229 }
243230 return mc , nil
244231}
232+
233+ // ParseModelXMLFile will read a given file and parse the contained URDF XML data into an equivalent Model.
234+ func ParseModelXMLFile (filename , modelName string ) (referenceframe.Model , error ) {
235+ //nolint:gosec
236+ xmlData , err := os .ReadFile (filename )
237+ if err != nil {
238+ return nil , errors .Wrap (err , "failed to read URDF file" )
239+ }
240+
241+ mc , err := UnmarshalModelXML (xmlData , modelName )
242+ if err != nil {
243+ return nil , err
244+ }
245+
246+ return mc .ParseConfig (modelName )
247+ }
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