[qr] support drake tags

lisdf/parsing/xml_j/visitor.py

@@ -177,6 +177,16 @@ def _inner(node: XMLNode):
 def check_done(node: XMLNode, attr: bool = True, children: bool = True) -> None:
     """A helper function to check whether all attributes and children of a
     node have been processed."""
+
+    for attr in node.attributes:
+        if attr.startswith('gazebo') or attr.startswith('drake'):
+            # remove the attribute
+            node.attributes.pop(attr)
+    for child in node.children:
+        if child.tag.startswith('gazebo') or child.tag.startswith('drake'):
+            # remove the child
+            node.children.remove(child)
+
     if attr:
         if len(node.attributes) != 0:
             print("Unprocessed attributes.")

lisdf/parsing/xml_j/xml.py

@@ -1,5 +1,4 @@
-import re
-import xml.etree.ElementTree as et
+from lxml import etree as et
 from typing import Any, List, Optional
 
 from lisdf.utils.printing import indent_text
@@ -133,9 +132,9 @@ def _xml2obj(element) -> XMLNode:
 
 
 def load_string(value: str) -> XMLNode:
-    # TODO:: temporary fix for some drake files.
-    value = re.sub(' xmlns="[^"]+"', "", value, count=1)
-    return _xml2obj(et.fromstring(value))
+    # value = re.sub(' xmlns="[^"]+"', "", value, count=1)
+    parser = et.XMLParser(remove_blank_text=True, remove_comments=True, recover=True)
+    return _xml2obj(et.fromstring(value, parser))
 
 
 def load_file(filename: str) -> XMLNode:

pyproject.toml

@@ -21,6 +21,7 @@ dependencies = [
     "pyyaml",
     "numpy",
     "lark",
+    "lxml"
 ]
 dynamic = ["version"]