Development branch, release 3.14.3

doc/source/user_guide/transform_manager.rst

@@ -29,7 +29,7 @@ you. For the given example, this would be the corresponding code
 
 .. literalinclude:: ../../../examples/plots/plot_transform_manager.py
    :language: python
-   :lines: 27-32
+   :lines: 30-35
 
 We can also export the underlying graph structure as a PNG with
 

doc/source/user_guide/transformation_modeling.rst

@@ -27,7 +27,7 @@ Now we can use the transformation matrix :math:`\boldsymbol T_{CA}` to transform
 a point :math:`_A\boldsymbol{p}` from frame :math:`A` to frame
 :math:`C` by multiplication :math:`_C\boldsymbol{p} = \boldsymbol{T}_{CA}\,_A\boldsymbol{p}`.
 
-In code this might look differently. Here we should prefer the notation `A2B`
+This might look differently in code. Here we should prefer the notation `A2B`
 for a transformation from frame `A` to frame `B`.
 
 .. code-block::
@@ -48,5 +48,8 @@ a point from `C` to `A` we can now use
     p_in_A = vector_to_point(...)  # point in frame A
     p_in_C = transform(A2C, p_in_A)
 
+This notation is particuarly effective when we use it in combination with
+longer, more readable frame names, e.g., ``left_hand_palm`` or ``robot_base``.
+
 For more complex cases the :class:`~pytransform3d.transform_manager.TransformManager`
 can help.

doc/source/user_guide/transformation_over_time.rst

@@ -33,7 +33,7 @@ First, you need to prepare the transfomation sequences using the
 
 .. literalinclude:: ../../../examples/plots/plot_interpolation_for_transform_manager.py
    :language: python
-   :lines: 43-56
+   :lines: 47-60
 
 In this example, the screw linear interpolation (ScLERP) will be used
 (which operates on dual quaternions, refer to
@@ -47,7 +47,7 @@ Next, you need to pass the transformations to an instance of
 
 .. literalinclude:: ../../../examples/plots/plot_interpolation_for_transform_manager.py
    :language: python
-   :lines: 58-61
+   :lines: 62-65
 
 ------------------------------------
 Transform Between Coordinate Systems
@@ -58,7 +58,7 @@ Finally, you can transform between coordinate systems at a particular time
 
 .. literalinclude:: ../../../examples/plots/plot_interpolation_for_transform_manager.py
    :language: python
-   :lines: 63-68
+   :lines: 67-72
 
 The coordinates of A's origin (blue diamond) transformed to B are visualized
 in the plot below:

pytransform3d/__init__.py

@@ -1,3 +1,3 @@
 """3D transformations for Python."""
 
-__version__ = "3.14.2"
+__version__ = "3.14.3"

pytransform3d/test/test_urdf.py

@@ -191,6 +191,36 @@ def test_missing_child_link_name():
         UrdfTransformManager().load_urdf(urdf)
 
 
+def test_xml_namespace():
+    urdf = """
+    <robot name="robot_name" xmlns="http://www.ros.org">
+    <link name="link0"/>
+    <link name="link1">
+        <visual name="link1_visual">
+            <origin xyz="0 0 1"/>
+            <geometry/>
+        </visual>
+    </link>
+    <joint name="joint0" type="fixed">
+        <parent link="link0"/>
+        <child link="link1"/>
+        <origin xyz="0 1 0"/>
+    </joint>
+    </robot>
+    """
+
+    robot_name, links, joints = parse_urdf(urdf)
+
+    assert robot_name == "robot_name"
+    assert len(links) == 2
+    assert len(joints) == 1
+
+    for link in links:
+        assert link.name in ["link0", "link1"]
+
+    assert joints[0].joint_name == "joint0"
+
+
 def test_reference_to_unknown_child():
     urdf = """
     <robot name="robot_name">

pytransform3d/transform_manager/test/test_transform_manager.py

@@ -1,3 +1,4 @@
+import contextlib
 import os
 import pickle
 import tempfile
@@ -193,10 +194,9 @@ def test_pickle():
             tm2 = pickle.load(f)
     finally:
         if os.path.exists(filename):
-            try:
+            # workaround for permission problem on Windows
+            with contextlib.suppress(OSError):
                 os.remove(filename)
-            except OSError:
-                pass  # workaround for permission problem on Windows
     A2B2 = tm2.get_transform("A", "B")
     assert_array_almost_equal(A2B, A2B2)
 
@@ -293,10 +293,9 @@ def test_png_export():
         pytest.skip("pydot is required for this test")
     finally:
         if os.path.exists(filename):
-            try:
+            # workaround for permission problem on Windows
+            with contextlib.suppress(OSError):
                 os.remove(filename)
-            except OSError:
-                pass  # workaround for permission problem on Windows
 
 
 def test_png_export_without_pydot_fails():

pytransform3d/urdf.py

@@ -4,6 +4,7 @@
 """
 
 import os
+import re
 import warnings
 
 import numpy as np
@@ -412,6 +413,13 @@ def parse_urdf(urdf_xml, mesh_path=None, package_dir=None, strict_check=True):
     # URDF XML schema:
     # https://github.com/ros/urdfdom/blob/master/xsd/urdf.xsd
 
+    # If there is an XML namespace (xmlns=...) specified, this will break
+    # parsing as the root tag, and the tag of all elements underneath root,
+    # will have a {namespace} prefix. As such, normalize the namespace to the
+    # default (i.e. no namespace).
+
+    _normalize_namespace(root)
+
     if root.tag != "robot":
         raise UrdfException("Robot tag is missing.")
 
@@ -462,6 +470,13 @@ def initialize_urdf_transform_manager(tm, robot_name, links, joints):
     _add_joints(tm, joints)
 
 
+def _normalize_namespace(root):
+    """Normalizes the namespace of the root node and all elements underneath."""
+    root.tag = re.sub(r"\{.*?\}", "", root.tag)
+    for element in root.iter():
+        element.tag = re.sub(r"\{.*?\}", "", element.tag)
+
+
 def _parse_material(material):
     """Parse material."""
     if "name" not in material.attrib: