Source code for urdfgenpy.exporters.urdf

#!/usr/bin/env python3

"""URDF XML exporter."""

# --- std
from __future__ import annotations

from typing import TYPE_CHECKING

if TYPE_CHECKING:
    from ..robot import Robot

_HEADER = '<?xml version="1.0"?>'




class URDFExporter:
    """Converts a :class:'~urdfgenpy.Robot' to a URDF XML string."""



    def export(self, robot: Robot) -> str:
        """Render *robot* as a URDF XML string.

        Args:
            robot: The :class:'~urdfgenpy.Robot' to serialize.

        Returns:
            A complete, well-formed URDF XML string including the XML
            declaration and '<robot>' root element.
        """
        lines = [
            _HEADER,
            f'<robot name="{robot.name}">',
        ]

        for mat in robot.materials:
            lines.append(mat.to_xml("    "))

        for link in robot.links:
            lines.append(link.to_xml("    "))

        for joint in robot.joints:
            lines.append(joint.to_xml("    "))

        lines.append("</robot>")
        return "\n".join(lines) + "\n"