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Migrate away from urdf_parser_py? #36
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Exposing the iDynTree (or Pinocchio) parser? Is it possible? |
The iDynTree parser is already exposed, it has the cons listed in the table but the pro that we obtain a rapresentation that is for sure 100% compatible with iDynTree, also w.r.t. to serialization, reduced joitns and similar aspects. However, I am afraid it is a bit more difficult to use than pure python libraries. |
I was with @CarlottaSartore and she told me that another possible parser could be urchin. What's your opinion? |
urchin is based a rebranded version of urdfpy, forked in a repo so that we can do releases (see mmatl/urdfpy#31). Basically it is like urdfpy, but with the advantage that we can publish fixes for it on both PyPI and conda-forge. If you like it, feel free to use it. |
icub-tech-iit/ergocub-gazebo-simulations#49 we were affected by a urdf_parser_py bug (tracked in ros/urdf_parser_py#82). |
urdf_parser_py
is a bit of a problematic dependency:At the moment, I was kind of deadlocked w.r.t. to this. Anyhow, yesterday @GiulioRomualdi suggested that we could migrate from urdf_parser_py to another library to load the the URDF. At beginning I was not entusiastic about the idea, but if that would be feasible it would be indeed great. In the following I would list a few alternatives:
yourdfpy
urdfpy
Initially I opened this issue noting that yourdfpy could be a well-mantained pure python library that it could make sense to use, but apparently it has mantainance problem as well, so I am deadlocked again. However, it is a bit too late as I already wrote the issue, so let's open the issue, perhaps it may be useful in the future.
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