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Fix UTF8 reading. #83

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merged 1 commit into from
Dec 1, 2023
Merged

Fix UTF8 reading. #83

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2 changes: 1 addition & 1 deletion src/urdf_parser_py/display_urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@

def main():
parser = argparse.ArgumentParser(usage='Load an URDF file')
parser.add_argument('file', type=argparse.FileType('r'),
parser.add_argument('file', type=argparse.FileType('rb'),
help='File to load. Use - for stdin')
parser.add_argument('-o', '--output', type=argparse.FileType('w'),
default=None, help='Dump file to XML')
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2 changes: 1 addition & 1 deletion src/urdf_parser_py/xml_reflection/core.py
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Expand Up @@ -613,7 +613,7 @@ def from_xml_string(cls, xml_string):

@classmethod
def from_xml_file(cls, file_path):
xml_string = open(file_path, 'r').read()
xml_string = open(file_path, 'rb').read()
return cls.from_xml_string(xml_string)

# Confusing distinction between loading code in object and reflection
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15 changes: 15 additions & 0 deletions test/test_urdf.py
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Expand Up @@ -289,6 +289,21 @@ def test_robot_link_defaults_xyz_set(self):
self.assertEqual(origin.xyz, [1, 2, 3])
self.assertEqual(origin.rpy, [0, 0, 0])

def test_xml_with_UTF8_encoding(self):
xml = b'''<?xml version="1.0" encoding="UTF-8"?>
<robot name="test">
<link name="test_link">
<inertial>
<mass value="10.0"/>
<origin xyz="1 2 3"/>
</inertial>
</link>
</robot>'''
robot = self.parse(xml)
origin = robot.links[0].inertial.origin
self.assertEqual(origin.xyz, [1, 2, 3])
self.assertEqual(origin.rpy, [0, 0, 0])


class LinkMultiVisualsAndCollisionsTest(unittest.TestCase):

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