"Geometry Attributes" for stuff loaded via URDF

[clemense]

Is it possible to add "Geometry Attributes" (like "isa") to things loaded via URDF?

[clemense]

Alright, got it, sorry.
Will just use "aarxc scene.urdf -s scene.robray" to convert to robray and then add things by hand. Unfortunately, this solution requires to redo these steps every time "scene.urdf" changes. If there's a more convenient solution I'm curious to know.

[ndantam]

Can you give a more specific example of what the URDF looks like and what attribute you want in the scene / robray file?

[clemense]

I have an articulated object as part of the scene and would like to tag certain parts like handles via the "isa" property. Do you think this is the wrong way to model this?

[ndantam]

Sounds reasonable... Is the "isa" property included in standard URDF?

[clemense]

No, URDF is very restricted.

[clemense]

Is there an API to maybe modify the scene graph after it is loaded? In order to add such (semantic) properties.

[ndantam]

Yes, you could do this with a short Lisp script to load the scene file, modify the scene graph data structure, and then output the result. The relevant functions should mostly be here: https://github.com/golems/amino/blob/master/lisp/rx/scenegraph.lisp.

It would be possible to bind these functions in (CL)Python, if that would make the process more accessible. What do you think?

[clemense]

Cool! Yes, I would prefer the python interface.

[ndantam]

OK, there is a partial CLPython binding already:
https://github.com/golems/amino/blob/master/lisp/py/user.lisp

Just need to include the additional functions for scene graph I/O and manipulation. Please give me a couple days to look into this.