On Fri, Mar 16, 2012 at 4:04 AM, David Lu!! <davidlu@wustl.edu> wrote:
> There is also a package I wrote (and never publicized,
> sorry) http://www.ros.org/wiki/urdf_python I've been using it as part of
> joint_state_publisher (although not the version that's in trunk)
> My package is not well documented and perhaps not as clean as yours, but we
> should definitely combine forces.

After a quick look at your package, it seems you support XML writing
that I lack and the
mimic tag that I also do not support.
On the  other side I can load the robot model from the parameter
server and I separated
the interface from the parser whereas you put the parse/to_xml methods
in the classes...

As we both use minidom I would say this is 99% the same thing :)

> What is the use case you are developing for?

I use it for an effort monitoring node. This node warns the user
through the Diagnostics stack
when the effort reaches 85% of the maximum allowed effort on the
joint. The information is retrieved
into the URDF model using the urdfpy package.

Currently, this node is here: http://ros.org/wiki/walk_tools

I really think that we should merge the packages. The question is
should we merge my modifications
in yours or the opposite... Could you take a look at urdfpy and tell
me what you prefer?
-- 
Thomas Moulard