A libary to create (valid) Robot descriptions
Project description
Robot-description-builder 🐍
A Python Package for create (valid) Robot descriptions
robot-description-builder
is a Python library for creating robot descriptions in multiple formats, like URDF, for use in various robotics and simulation applications such as ROS and Gazebo Simulator.
The Python version of robot-description-builder
is written in Rust using PyO3 by wrapping the robot-description-builder
Rust crate. This has been done for the following reasons:
- Using Rust prevented memory leaks, which would occur in a full Python implementation. (I had not heard of the
weakref
module, yet.) - Using Rust also allows for interesting compile time validation, which is only available in the Rust Language. Resulting in the
SmartJointBuilder
(Only available in the Rust version). - Creating a Rust library and wrapping it in Python creates two libraries with little or no extra work[^1].
[^1]: Famous last words.
Installation
robot-description-builder
can be installed from PyPi using the following command:
$ pip install robot-description-builder
Features
- Support for the Full URDF spec, fully compatible starting at ROS Indigo. (
Transmission
s are different before ROS Indigo, other features should work)- Support for all base URDF geometry types:
Box
,Cylinder
,Sphere
andMesh
.
- Support for all base URDF geometry types:
- Mirroring of Kinematic chains.
- Easy cloning/renaming Kinematic chains by changing the
group_id
. - ROS independent, can be run on any machine using Python 3.8 and above.
🚧UNDER CONSTRUCTION: EXPAND FEATURE LIST🚧
Compatibility chart
Spec | Support | State |
---|---|---|
URDF | ✔/🔩 WIP | Fully supported TRANSMISIONS ARE CURRENTLY INCORRECT |
URDF Gazebo | 🔩/❌ | Extension unsupported, Base URDF compatibility avaible |
SDF | ❌ | Planned |
Using robot-description-builder
It is recommended to import only the classes needed from the package or import the module as rdb
, since the package name (robot_description_builder
) is quite long.
import robot_description_builder as rdb
# TODO: EXPAND
🚧UNDER CONSTRUCTION: EXPAND EXAMPLE🚧
Documentation
This Python Package has typing support and comes fully equiped with docstrings
and stub files. Documentation pages comming soon(ish).
🚧UNDER CONSTRUCTION: CREATE DOCUMENTATION PAGES🚧
Roadmap
- Add documentation pages.
- Add shorthand
Link
constructors. - Add (partial) support for SDFormat.
- Add support for the Gazebo URDF extension support.
- (Optional) Add (partial) support for the MIT Drake URDF extension
Interesting ideas with questionable feasibility
- Add
SmartJointBuilder
, similar to the Rust versionIt would need to be a dynamic class with function injection, (ASSUMPTION) which would not work with IntelliSense making.
Lessons
🚧UNDER CONSTRUCTION: ADD LESSONS/DESIGN DECISIONS🚧
License
robot-description-builder
is licensed under the MIT license.
Project details
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Source Distribution
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MD5 | 1d490df3f639aa4a1842d94d9b9f67b4 |
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BLAKE2b-256 | 250e5b081210c436d4bb61fd3aa4d56a299dbefe954ec67b7a943e7bec1ad5cc |
Hashes for robot_description_builder-0.0.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e05e2074c35729781b7ba1636c0351ece80a887b37db99524563ec3e2704f3bf |
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MD5 | bf3182244e70c70289335360d06074c5 |
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BLAKE2b-256 | abdca1b8b37c185488236f43ad177f9f5045407c39546f723b48672858edb59a |
Hashes for robot_description_builder-0.0.3-cp311-cp311-macosx_11_0_arm64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | ec2695a6fb487b3dcf3ca49b600b370217f2d3c26b491717bb534fe867e4410b |
|
MD5 | bb717a920879dfad6e47886e6620aa87 |
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BLAKE2b-256 | 4f0ec6368fa77d1d434223dcf04419a9d8146fa1a5a780a03ade2f998e8f19c9 |
Hashes for robot_description_builder-0.0.3-cp311-cp311-macosx_10_12_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | d09b2a8795039f5a00da361842573eceacbed2f46398a01017492c5ceae65b8d |
|
MD5 | 43072d8e7aabe258e53d78071f7acd35 |
|
BLAKE2b-256 | aebcc3bb8755223aa4f94685a3e4aa7198b852e739a5c1b103d085359e79b4a9 |
Hashes for robot_description_builder-0.0.3-cp310-none-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 49d5d62ddcd21a76631974ba81de0f5af75da2646f766a577718e6a92deef347 |
|
MD5 | 98cb97dc68668bbca6e9d917ac77fc91 |
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BLAKE2b-256 | bb54f82ea310755d1bd25ab72a6d1e505c40310c47ddc4f566103136c46d4039 |
Hashes for robot_description_builder-0.0.3-cp310-none-win32.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 8955b7998b08d6e935440acb0291c41619eab62cc38d9f75337450133ca56f1d |
|
MD5 | d775bbc9c5507215c4686982860478b1 |
|
BLAKE2b-256 | e51ea141a239825ddda4725db8bc432e02528052e9da6735e97fdc96d5fe9380 |
Hashes for robot_description_builder-0.0.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | cd1aeaa6e55b63dfd475d3308710a2a078723511b1da29cad40922746c8c9564 |
|
MD5 | b5d17aac96285182d2c6665379931608 |
|
BLAKE2b-256 | c9a5a956bfedcfd4439e22c0fe089aa95a153ba15ce05779e229f1e6180494c7 |
Hashes for robot_description_builder-0.0.3-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 0f1fa3d17c2ab6da2a5527533c5bfed269ab8a50172feee1fa2348887e5a54d2 |
|
MD5 | bac46ce36b20ae9b5ca8075c915485c7 |
|
BLAKE2b-256 | b4ca33d22432136fcc9d08a5135296e85c1f4f34a12aae2244b50b3693a9b201 |
Hashes for robot_description_builder-0.0.3-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 66735beb5c312c75bd163117f98244cb645aed3b2ebd50036af8a6c520cbb6d0 |
|
MD5 | 57e4d953db3307b23b483f5cafafedc0 |
|
BLAKE2b-256 | 85b91ec053e00d6ec7d66909d4eaacfff6a564d160b34100b23138c1be669c37 |
Hashes for robot_description_builder-0.0.3-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 301958c028b49ce84f366a350e66b0fd7280db26a17f5969131e746c586216a2 |
|
MD5 | ee4e320a106b6fdcc9198886ef79bac2 |
|
BLAKE2b-256 | beacd58dbf02382e6e784c0f972030fbb229263187a899106aa0ea11abebbfa2 |
Hashes for robot_description_builder-0.0.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 0f54471bb9f573668a2f011afedb7ae43318fdc06b70397e8768d33dcdff08b9 |
|
MD5 | 4eebfce00adc9a8a4920c2498c34208a |
|
BLAKE2b-256 | 4bd1f306e17b6c5f582c6a677557d62edd742f44c63a27f7c4974525f895d85e |
Hashes for robot_description_builder-0.0.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 8651e09c1c0cdf1987f1e979db63570bfc930fb7b40ee66343038f6cd41f4e3e |
|
MD5 | adb811c863493410779966f0ec4b9821 |
|
BLAKE2b-256 | a97f386bbbd32ffac20170be8d2322b099d0d3eb74e3e910abe470d4c65bc374 |
Hashes for robot_description_builder-0.0.3-cp39-none-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 428c6d360cb2e7ffeeeb56428d2d0fad5da5a5b910e7b20de01e2f149ff5d71e |
|
MD5 | 907172cd3bb36bb7b8cbf09706a11014 |
|
BLAKE2b-256 | d29c8d1d6d2f2297cbfb3b38f2ff7a93bb1a28f43b8b329927547dfb87674ae7 |
Hashes for robot_description_builder-0.0.3-cp39-none-win32.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 4237bce5444db98c473b53b92d85cd22374a64407f074f187f7be82dd2fe1331 |
|
MD5 | 97ded298343dbac34fde6ffdc67dc484 |
|
BLAKE2b-256 | 90502c73e4f2dd387bba4bfaba15aa21dd80b8a14101fcc6b8cf847f87fea346 |
Hashes for robot_description_builder-0.0.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | c246dc17bad49d4d59fc3b53c6af8379a77bcb6cdfa7e2a4e60373346264a29d |
|
MD5 | f6f7d67c19244b2ad1570fc7f205b5de |
|
BLAKE2b-256 | 363a0fcf47378f10164738aa162142d7c931651ff1a03fb1fc1bab716adea8c1 |
Hashes for robot_description_builder-0.0.3-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 789d6972dcf3d71b3204968de557ccbf5cefac8c09d096773180591d85eea534 |
|
MD5 | 3b7189274c76d78028eee33b4c590bd5 |
|
BLAKE2b-256 | 5f5a64f2c691d074d0d5ea14e9483e7b5a932f2512ab1fffd2e0acaf31861d09 |
Hashes for robot_description_builder-0.0.3-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 54a66b03943cb2112ca08d1bf68e6bf2f21c01ea48149efb77b587c8d3a6ca28 |
|
MD5 | 47eb8924d09dce3f08a52e918ede23da |
|
BLAKE2b-256 | af22235e91b80eefcac52037bec52a96bfb1f8270d8c5b03a70de76ea0679f2d |
Hashes for robot_description_builder-0.0.3-cp39-cp39-manylinux_2_17_armv7l.manylinux2014_armv7l.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 866a9079cc4f1069bf3ed0434128aff91fe95500b69e55c225a1c32e1032ca76 |
|
MD5 | 8b2f8189f3040518965282af74d87ae3 |
|
BLAKE2b-256 | 22495172ebc43047e91cae956727ceb4bdcbc70bc622d6437ad88a127efd9fcf |
Hashes for robot_description_builder-0.0.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 00c6f5117e30157557e52e3ada107b5e6be278fa02fce9db8700bc5ac9e99acb |
|
MD5 | 5d9d1c9037bacbec31b52956cee630b1 |
|
BLAKE2b-256 | 92c2351eeb83c874d03aaf05294dd50e206d9975df0aafc005d37bf15caf1700 |
Hashes for robot_description_builder-0.0.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 9f15de72461ecacc0bd7b166f746fde6b1f244af1e0c34512ba12cab93be963e |
|
MD5 | 417bc436f77a3f4049fdd62d4d20f807 |
|
BLAKE2b-256 | d78dd1d4c2231d7897b019dbd31320c71341d0fc5a7657f8a708c65fe584ea56 |
Hashes for robot_description_builder-0.0.3-cp39-cp39-macosx_11_0_arm64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | b85c5fe7533f63c7a1d35cbf76a32a1d6070d90c9eac8896d344bf529568b32a |
|
MD5 | d56656cb7b44ee23c27e5cf1d8c38aab |
|
BLAKE2b-256 | 73093472cc7bf768df9153792136112cd43fdd0045f5d7aa1d595eec2906de7c |
Hashes for robot_description_builder-0.0.3-cp39-cp39-macosx_10_12_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 98a61ae2197ae65f46506eba43e7a65874953c298ed2c48cd0acb86e1c87c302 |
|
MD5 | bd4205da41065f8051e4265414fed115 |
|
BLAKE2b-256 | ea903e9e2840dbb3b1d48f97cbb4596ece0614c1b1a0b08caea632108202b5b3 |
Hashes for robot_description_builder-0.0.3-cp38-none-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | c9184c10fce1592147d7c90bd58670edb4029f40fe5a861675fada71b7fac3e3 |
|
MD5 | 60860640f4415deef606a05fbff011f9 |
|
BLAKE2b-256 | eeb058c6a544760ad25e14194b3e90959b61be6e97bd2073e60ee12c35e097a2 |
Hashes for robot_description_builder-0.0.3-cp38-none-win32.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | fc3e3640215c4d0b5c740b96436aad69334f0570e4e2dce384aeb75ca0c4e684 |
|
MD5 | 00b05c6ce4ceda10498caf03051d4bcf |
|
BLAKE2b-256 | 27b07acdbb75e61af184d454589794ffa5d68e0bee30701c0f95564e82f7a35b |
Hashes for robot_description_builder-0.0.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 41cb2e7c47fa39ff1e356d895ae7c137f3e3feac57c803906384c77d098a5638 |
|
MD5 | f8d637fc2ce62241ac94c27cdc940cfa |
|
BLAKE2b-256 | a7e7d36cad4a2ca7c0be61f2f2b4d31da29135f9bca6137077046011c20435c8 |
Hashes for robot_description_builder-0.0.3-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 5ed4f43e7054738bf770c7dc310a08020b9fe5985c2dfcf1bf2b2db9e4f815b6 |
|
MD5 | f18acaefc81a37825a6e7d1498a09b55 |
|
BLAKE2b-256 | eb326b98a67c3f0fd95688321de04776b7dd62f6cf1c61b80806a58d4f7ff64c |
Hashes for robot_description_builder-0.0.3-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 0a72a9fbfbbfef0f14487515eab994105e3f7fee1bfada8e462fbecd491ce377 |
|
MD5 | e1d1495c68b34d4ea68067e97c659dc2 |
|
BLAKE2b-256 | 0dfae1f5cdc38e36668265ae1b5ee8b3595cb232a4ba77483aa7ac7581361043 |
Hashes for robot_description_builder-0.0.3-cp38-cp38-manylinux_2_17_armv7l.manylinux2014_armv7l.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e9e643e91f3ed9d3a3146a394dde396ffbdcca3a12c411142d97e095baa949bb |
|
MD5 | 02ff783857eb576aecc3e6e6c1c1c915 |
|
BLAKE2b-256 | 9c1e7395e6579108e30d578a058b0d6ef4ee29d0f509c3b5fc2a6f3220a39a82 |
Hashes for robot_description_builder-0.0.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e7b6f1392d7c59a05b1a84b25b3b43defbc01f45d66664f7e04402e134f98476 |
|
MD5 | 631fee9bf84aa80a805464b46f40d524 |
|
BLAKE2b-256 | 69627cc0b56ed2f47065dbcb57787389296feb1ef10c5c0cd618338c1b2fc880 |
Hashes for robot_description_builder-0.0.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | df2fc4d1c1d5e118cf6875e28e4836a479a8667ed86d81fe35e45058b8450494 |
|
MD5 | af01dd87d3f12b4937cd938f91331a9b |
|
BLAKE2b-256 | b7bed46b0d6d02a72c84db9b9fbf9009dd4b7ec064771f02b768651cdafce2a8 |
Hashes for robot_description_builder-0.0.3-cp38-cp38-macosx_11_0_arm64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 36b6ae71eb040a76f59358645aacaae8094f411891cf49a2f6f60195fa105a00 |
|
MD5 | 70c173930e1f935d0524f007b1656c68 |
|
BLAKE2b-256 | 1c3a32f26fa7bdf6fb6b74c4c31354fc1d3d8165d0a08f0619fc5484689fdd2a |
Hashes for robot_description_builder-0.0.3-cp38-cp38-macosx_10_12_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | b348abc0e8989b58ca879c77e38b985a7fe55e51734fbe3918fc1247f6690630 |
|
MD5 | c91703b768ec178ca9b6f2c12f71a8d6 |
|
BLAKE2b-256 | eb86fd74442533e9076706e4e8aa1f97d26c2be5c38f76b4e7d8c947173d1f5a |