functions to write urdf xml to file?

[baxelrod-bdai]

I am looking for functions to write a urdf xml file but can't seem to find any. Basically, I am reading joint and body data from another file format, and would like to convert it to URDF.

It looks like this functionality might exist in "urdf_parser_py", but i'm not sure. Other than that, the only other thing i can find that looks like it writes urdf files is "robot_model/collada_urdf/src/collada_to_urdf.cpp".

Thanks

[jacquelinekay]

Using urdf_parser_py, the following sample code should work.

from urdf_parser_py.urdf import URDF

robot = URDF.from_xml_file("calvin.urdf")

# change robot model programatically

xml_string = robot.to_xml_string()
print xml_string

We could add this functionality to the C++ API and/or update the documentation for urdf_parser_py.

[baxelrod-bdai]

Thanks, I would like the C++ API.

[sbarthelemy]

It already exists:

TiXmlDocument* exportURDF(const ModelInterface &model);

You can write to a file with something like this:

boost::scoped_ptr<TiXmlDocument> tiXmlDoc(urdf::exportURDF(mymodel));
TiXmlPrinter printer;
tiXmlDoc->Accept(&printer);
std::cout << printer.Str();

[sloretz]

Hi @benaxelrod, it looks like it has been a while since this was updated. I'm assuming the post by @sbarthelemy answers the question. Feel free to reopen if that's not the case.