urdf-go

A Golang wrapper for interpreting URDF files (a version of xml).

Installation

You can use this library in your own Go projects by running:

go get github.com/WrenchRobotics/urdf-go

Usage

This library is designed so that you only need a single loader to get a complete model of the URDF.

package main

import (
	"fmt"

	"github.com/WrenchRobotics/urdf-go/loaders"
)

func main() {
	// Setup
	urdfPath := "500ml.urdf"

	// Load using our loading library
	urdfModel, err := loaders.FromURDFFile(urdfPath)
	if err != nil {
		panic(fmt.Errorf("there was an issue loading the URDF file: %v", err))
	}

	// Print information about the loaded model
	fmt.Println("the number of links in the model:", urdfModel.NumLinks())
	fmt.Println("the number of joints in the model:", urdfModel.NumJoints())
	fmt.Println("the number of materials in the model:", urdfModel.NumMaterials())

}

You can also load a URDF directly from its contents (e.g. if you already have the file bytes in memory):

package main

import (
	"fmt"
	"os"

	"github.com/WrenchRobotics/urdf-go/loaders"
)

func main() {
	// Setup
	contents, err := os.ReadFile("500ml.urdf")
	if err != nil {
		panic(fmt.Errorf("there was an issue reading the URDF file: %v", err))
	}

	// Load using our loading library
	urdfModel, err := loaders.FromURDFContents(contents)
	if err != nil {
		panic(fmt.Errorf("there was an issue loading the URDF contents: %v", err))
	}

	// Print information about the loaded model
	fmt.Println("the number of links in the model:", urdfModel.NumLinks())
	fmt.Println("the number of joints in the model:", urdfModel.NumJoints())
	fmt.Println("the number of materials in the model:", urdfModel.NumMaterials())

}

More information about usage and documentation for the API can be found on our libraries entries on pkg.go.dev here.