Refactor the from_urdf function from RobotLibrary to Robot
#437
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| @@ -110,6 +112,49 @@ def __from_data__(cls, data): | |||
| robot.attributes = attributes | |||
| return robot | |||
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| @classmethod | |||
| def from_urdf(cls, urdf_filename, srdf_filename=None, local_package_mesh_folder=None, client=None): | |||
| # type: (str, Optional[str], Optional[str], Optional[ClientInterface]) -> Robot | |||
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ClientInterface is not imported, is it? Does this work? Can you do a fully-qualified type here (ie. compas_fab.backends.interfaces.ClientInterface) to avoid importing only for the purpose of type checking?
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| if srdf_filename: | ||
| semantics = RobotSemantics.from_srdf_file(srdf_filename, model) | ||
| else: | ||
| semantics = None |
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Maybe this is a bit neater?
Suggested change
| if srdf_filename: | |
| semantics = RobotSemantics.from_srdf_file(srdf_filename, model) | |
| else: | |
| semantics = None | |
| semantics = None | |
| if srdf_filename: | |
| semantics = RobotSemantics.from_srdf_file(srdf_filename, model) |
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Seems a really cool contribution. Any reason keeping you from merging @yck011522 ? |
I'm just slightly away from office these days. Will work on it soon. |
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Happy holidays! |
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This would allow other access to use that function.
What type of change is this?
Checklist
Put an
xin the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.CHANGELOG.mdfile in theUnreleasedsection under the most fitting heading (e.g.Added,Changed,Removed).invoke test).invoke lint).compas_fab.robots.CollisionMesh.