Example: load in yourdfpy

Author: stephane-caron

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Example: load in yourdfpy
 - Loader: yourdfpy
 
 ## [0.5.0] - 2022/09/19

examples/load_in_yourdfpy.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Stéphane Caron
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Load a robot description, specified from the command line, using yourdfpy.
+
+This example requires yourdfpy, which is installed by ``pip install yourdfpy``.
+"""
+
+import argparse
+
+from robot_descriptions.loaders.yourdfpy import load_robot_description
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("name", help="name of the robot description")
+    args = parser.parse_args()
+
+    try:
+        robot = load_robot_description(args.name)
+    except ModuleNotFoundError:
+        robot = load_robot_description(f"{args.name}_description")
+
+    print(f"Robot successfully loaded as {robot}")