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Complete Capsule export support and add public exportURDF API #256

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Complete Capsule export support and add public exportURDF API #256

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1 change: 1 addition & 0 deletions urdf_parser/include/urdf_parser/urdf_parser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -174,6 +174,7 @@ class URDFVersion final
namespace urdf{
URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
URDFDOM_DLLAPI std::string exportURDF(const ModelInterface &model);
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@scpeters scpeters Apr 20, 2026

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the exportURDF API was deprecated in #191 and removed in #217

what is it used for?

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@saikishor saikishor Apr 20, 2026

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I tthink they are used to export the string from a Model, but not much use. If this is the case, then there needs to be other cleanups to be done. Should I do the cleanup part?

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@scpeters scpeters Apr 20, 2026

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I don't think this is a breaking change, so we can merge to rolling after the freeze date and then backport to lyrical after the initial release

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@scpeters scpeters Apr 20, 2026

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I tthink they are used to export the string from a Model, but not much use. If this is the case, then there needs to be other cleanups to be done. Should I do the cleanup part?

maybe create an issue to describe the cleanup work to be done and what it will enable?

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@saikishor saikishor Apr 20, 2026

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Copy that

}

#endif
13 changes: 13 additions & 0 deletions urdf_parser/src/link.cpp
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Expand Up @@ -584,6 +584,15 @@ bool exportCylinder(Cylinder &y, tinyxml2::XMLElement *xml)
return true;
}

bool exportCapsule(Capsule &c, tinyxml2::XMLElement *xml)
{
tinyxml2::XMLElement *capsule_xml = xml->GetDocument()->NewElement("capsule");
capsule_xml->SetAttribute("radius", urdf_export_helpers::values2str(c.radius).c_str());
capsule_xml->SetAttribute("length", urdf_export_helpers::values2str(c.length).c_str());
xml->LinkEndChild(capsule_xml);
return true;
}

bool exportMesh(Mesh &m, tinyxml2::XMLElement *xml)
{
// e.g. add <mesh filename="my_file" scale="1 1 1"/>
Expand Down Expand Up @@ -614,6 +623,10 @@ bool exportGeometry(GeometrySharedPtr &geom, tinyxml2::XMLElement *xml)
{
exportMesh((*(urdf::dynamic_pointer_cast<Mesh>(geom).get())), geometry_xml);
}
else if (urdf::dynamic_pointer_cast<Capsule>(geom))
{
exportCapsule((*(urdf::dynamic_pointer_cast<Capsule>(geom).get())), geometry_xml);
}
else
{
CONSOLE_BRIDGE_logError("geometry not specified, I'll make one up for you!");
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10 changes: 10 additions & 0 deletions urdf_parser/src/model.cpp
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Expand Up @@ -289,6 +289,7 @@ tinyxml2::XMLDocument* exportURDFInternal(const ModelInterface &model)

tinyxml2::XMLElement* robot = doc->NewElement("robot");
robot->SetAttribute("name", model.name_.c_str());
robot->SetAttribute("version", "1.2");
doc->LinkEndChild(robot);


Expand All @@ -312,4 +313,13 @@ tinyxml2::XMLDocument* exportURDFInternal(const ModelInterface &model)

return doc;
}

URDFDOM_DLLAPI std::string exportURDF(const ModelInterface &model)
{
tinyxml2::XMLDocument *doc = exportURDFInternal(model);
tinyxml2::XMLPrinter printer;
doc->Print(&printer);
delete doc;
return printer.CStr();
}
}
46 changes: 46 additions & 0 deletions urdf_parser/test/urdf_schema_capsule_geometry_test.cpp
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Expand Up @@ -15,6 +15,7 @@
#include <gtest/gtest.h>
#include <cmath>
#include <memory>
#include <string>

#include "urdf_model/link.h"
#include "urdf_parser/urdf_parser.h"
Expand Down Expand Up @@ -266,6 +267,51 @@ TEST(URDF_UNIT_TEST, parse_multiple_capsules_in_same_link)
EXPECT_DOUBLE_EQ(2.0, collision_capsule_1->length);
}

TEST(URDF_UNIT_TEST, export_capsule_geometry_round_trip)
{
std::string urdf_str = R"urdf(
<robot name="capsule_export_test" version="1.1">
<link name="link1">
<visual>
<origin xyz="0.1 0.2 0.3" rpy="0 0 0"/>
<geometry>
<capsule radius="0.05" length="0.5"/>
</geometry>
</visual>
<collision>
<geometry>
<capsule radius="0.1" length="1.0"/>
</geometry>
</collision>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr model = urdf::parseURDF(urdf_str);
ASSERT_NE(nullptr, model);

std::string exported = urdf::exportURDF(*model);
ASSERT_FALSE(exported.empty());

urdf::ModelInterfaceSharedPtr reparsed = urdf::parseURDF(exported);
ASSERT_NE(nullptr, reparsed);

urdf::LinkConstSharedPtr link = reparsed->getLink("link1");
ASSERT_NE(nullptr, link);

ASSERT_EQ(1u, link->visual_array.size());
auto visual_capsule = std::dynamic_pointer_cast<urdf::Capsule>(link->visual_array[0]->geometry);
ASSERT_NE(nullptr, visual_capsule);
EXPECT_DOUBLE_EQ(0.05, visual_capsule->radius);
EXPECT_DOUBLE_EQ(0.5, visual_capsule->length);

ASSERT_EQ(1u, link->collision_array.size());
auto collision_capsule = std::dynamic_pointer_cast<urdf::Capsule>(link->collision_array[0]->geometry);
ASSERT_NE(nullptr, collision_capsule);
EXPECT_DOUBLE_EQ(0.1, collision_capsule->radius);
EXPECT_DOUBLE_EQ(1.0, collision_capsule->length);
}

int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
Expand Down
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