Initial version

README.md

@@ -1,2 +1,3 @@
-# rod
-The ultimate Python tool for RObot Descriptions processing.
+# RObot Description processor
+
+**The ultimate Python tool for RObot Descriptions processing.**

pyproject.toml

@@ -0,0 +1,20 @@
+[build-system]
+requires = [
+    "wheel",
+    "setuptools>=45",
+    "setuptools_scm[toml]>=6.2",
+]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"
+
+[tool.black]
+line-length = 88
+
+[tool.isort]
+profile = "black"
+multi_line_output = 3
+
+[tool.cibuildwheel]
+build-frontend = "build"

setup.cfg

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+[metadata]
+name = rod
+description = The ultimate Python tool for RObot Descriptions processing.
+long_description = file: README.md
+long_description_content_type = text/markdown
+author = Diego Ferigo
+author_email = [email protected]
+license = MIT
+license_files = LICENSE
+platforms = any
+url = https://github.com/ami-iit/rod
+
+project_urls =
+    Changelog = https://github.com/ami-iit/rod/releases
+    Source = https://github.com/ami-iit/rod
+    Tracker = https://github.com/ami-iit/rod/issues
+
+keywords =
+    description
+    gazebo
+    parser
+    robot
+    robotics
+    ros
+    sdf
+    sdformat
+    simulator
+    simulation
+    urdf
+
+classifiers =
+    Development Status :: 5 - Production/Stable
+    Framework :: Robot Framework
+    Intended Audience :: Science/Research
+    Intended Audience :: Developers
+    Intended Audience :: Education
+    License :: OSI Approved :: MIT License
+    Operating System :: OS Independent
+    Operating System :: POSIX :: Linux
+    Operating System :: MacOS
+    Operating System :: Microsoft :: Windows
+    Programming Language :: Python :: 3
+    Programming Language :: Python :: 3.8
+    Programming Language :: Python :: 3.9
+    Programming Language :: Python :: 3.10
+    Programming Language :: Python :: 3.11
+    Programming Language :: Python :: 3 :: Only
+    Programming Language :: Python :: Implementation :: CPython
+    Topic :: Games/Entertainment :: Simulation
+
+[options]
+zip_safe = False
+packages = find:
+package_dir =
+    =src
+python_requires = >=3.8
+install_requires =
+    mashumaro
+    numpy
+    xmltodict
+
+[options.packages.find]
+where = src

setup.py

@@ -0,0 +1,3 @@
+import setuptools
+
+setuptools.setup()

src/rod/__init__.py

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+from .collision import Collision
+from .common import Pose, Xyz
+from .geometry import (
+    Box,
+    Capsule,
+    Cylinder,
+    Ellipsoid,
+    Geometry,
+    Heightmap,
+    Mesh,
+    Plane,
+    Sphere,
+)
+from .joint import Axis, Dynamics, Joint, Limit
+from .link import Inertia, Inertial, Link
+from .material import Material
+from .model import Model
+from .physics import Physics
+from .scene import Scene
+from .sdf import Sdf
+from .visual import Visual
+from .world import World

src/rod/collision.py

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+import dataclasses
+from typing import Optional
+
+import mashumaro
+
+from .common import Pose
+from .element import Element
+from .geometry import Geometry
+
+
+@dataclasses.dataclass
+class Collision(Element):
+
+    geometry: Geometry
+    name: str = dataclasses.field(metadata=mashumaro.field_options(alias="@name"))
+
+    pose: Optional[Pose] = dataclasses.field(default=None)

src/rod/common.py

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+import dataclasses
+from typing import Any, Dict, List, Optional
+
+import mashumaro
+
+from .element import Element
+
+
+@dataclasses.dataclass
+class Xyz(Element):
+
+    xyz: List[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            alias="#text",
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=3),
+        ),
+    )
+
+    expressed_in: Optional[str] = dataclasses.field(
+        default=None, metadata=mashumaro.field_options(alias="@expressed_in")
+    )
+
+    @classmethod
+    def __pre_deserialize__(cls, d: Dict[Any, Any]) -> Dict[Any, Any]:
+
+        if isinstance(d, str):
+            d = {"#text": d, "@expressed_in": ""}
+
+        return d
+
+
+@dataclasses.dataclass
+class Pose(Element):
+
+    pose: List[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            alias="#text",
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=6),
+        ),
+    )
+
+    relative_to: Optional[str] = dataclasses.field(
+        default=None, metadata=mashumaro.field_options(alias="@relative_to")
+    )
+
+    degrees: Optional[bool] = dataclasses.field(
+        default=None, metadata=mashumaro.field_options(alias="@degrees")
+    )
+
+    rotation_format: Optional[str] = dataclasses.field(
+        default=None, metadata=mashumaro.field_options(alias="@rotation_format")
+    )
+
+    @classmethod
+    def __pre_deserialize__(cls, d: Dict[Any, Any]) -> Dict[Any, Any]:
+
+        if isinstance(d, str):
+            d = {"#text": d, "@relative_to": ""}
+
+        return d
+
+    @property
+    def xyz(self) -> List[float]:
+        return self.pose[0:3]
+
+    @property
+    def rpy(self) -> List[float]:
+        return self.pose[3:6]

src/rod/geometry.py

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+import dataclasses
+from typing import List, Optional
+
+import mashumaro
+
+from .element import Element
+
+
+@dataclasses.dataclass
+class Box(Element):
+
+    size: List[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=3),
+        ),
+    )
+
+
+@dataclasses.dataclass
+class Capsule(Element):
+
+    radius: float = dataclasses.field(
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
+    )
+
+    length: float = dataclasses.field(
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
+    )
+
+
+@dataclasses.dataclass
+class Cylinder(Element):
+
+    radius: float = dataclasses.field(
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
+    )
+
+    length: float = dataclasses.field(
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
+    )
+
+
+@dataclasses.dataclass
+class Ellipsoid(Element):
+
+    radii: List[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=3),
+        ),
+    )
+
+
+@dataclasses.dataclass
+class Heightmap(Element):
+
+    uri: str
+
+    size: List[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            alias="#text",
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=3),
+        ),
+    )
+
+    pos: List[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            alias="#text",
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=3),
+        ),
+    )
+
+
+@dataclasses.dataclass
+class Mesh(Element):
+
+    uri: str
+
+    scale: Optional[List[float]] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=3),
+        ),
+    )
+
+
+@dataclasses.dataclass
+class Plane(Element):
+
+    normal: List[float] = dataclasses.field(
+        metadata=mashumaro.field_options(
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=3),
+        ),
+    )
+
+    size: Optional[List[float]] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(
+            serialize=Element.serialize_list,
+            deserialize=lambda l: Element.deserialize_list(data=l, length=2),
+        ),
+    )
+
+
+@dataclasses.dataclass
+class Sphere(Element):
+
+    radius: float = dataclasses.field(
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
+    )
+
+
+@dataclasses.dataclass
+class Geometry(Element):
+
+    box: Optional[Box] = dataclasses.field(default=None)
+    capsule: Optional[Capsule] = dataclasses.field(default=None)
+    cylinder: Optional[Capsule] = dataclasses.field(default=None)
+    ellipsoid: Optional[Capsule] = dataclasses.field(default=None)
+    heightmap: Optional[Heightmap] = dataclasses.field(default=None)
+    mesh: Optional[Mesh] = dataclasses.field(default=None)
+    plane: Optional[Mesh] = dataclasses.field(default=None)
+    sphere: Optional[Sphere] = dataclasses.field(default=None)