add urdf schema

docs/conf.py

@@ -80,6 +80,7 @@ def abspath(rel):
 # The theme to use for HTML and HTML Help pages
 html_theme = 'sphinx_rtd_theme'
 # html_theme = 'insegel'
+# html_theme = 'furo'
 
 # options for rtd-theme
 html_theme_options = {

docs/requirements.txt

@@ -8,4 +8,5 @@ pyopenssl==22.1.0
 autodocsumm==0.2.9
 jinja2==3.1.2
 matplotlib==3.6.2
-nbconvert==7.2.4
+nbconvert==7.2.5
+

examples/section.ipynb

@@ -130,7 +130,7 @@
    "source": [
     "# we can plot the intersection (red) and our original geometry(black and green)\n",
     "ax = plt.gca()\n",
-    "for h in hits:\n",
+    "for h in hits.geoms:\n",
     "    ax.plot(*h.xy, color='r')\n",
     "slice_2D.show()"
    ]

trimesh/constants.py

@@ -1,13 +1,6 @@
 import numpy as np
 
-from .util import log, PY3
-
-if PY3:
-    # will be the highest granularity clock available
-    from time import perf_counter as now
-else:
-    # perf_counter not available on python 2
-    from time import time as now
+from .util import log, now
 
 
 class ToleranceMesh(object):

trimesh/exchange/load.py

@@ -9,10 +9,9 @@
 from ..parent import Geometry
 from ..points import PointCloud
 from ..scene.scene import Scene, append_scenes
-from ..constants import log_time, log
+from ..util import log, now
 
 from . import misc
-
 from .xyz import _xyz_loaders
 from .ply import _ply_loaders
 from .stl import _stl_loaders
@@ -173,7 +172,6 @@ def load(file_obj,
     return loaded
 
 
-@log_time
 def load_mesh(file_obj,
               file_type=None,
               resolver=None,
@@ -209,10 +207,12 @@ def load_mesh(file_obj,
     try:
         # make sure we keep passed kwargs to loader
         # but also make sure loader keys override passed keys
-        results = mesh_loaders[file_type](file_obj,
-                                          file_type=file_type,
-                                          resolver=resolver,
-                                          **kwargs)
+        loader = mesh_loaders[file_type]
+        tic = now()
+        results = loader(file_obj,
+                         file_type=file_type,
+                         resolver=resolver,
+                         **kwargs)
         if not isinstance(results, list):
             results = [results]
 
@@ -223,10 +223,9 @@ def load_mesh(file_obj,
             loaded[-1].metadata.update(metadata)
         if len(loaded) == 1:
             loaded = loaded[0]
-        # show the repr for loaded
-        log.debug('loaded {} using {}'.format(
-            str(loaded),
-            mesh_loaders[file_type].__name__))
+        # show the repr for loaded, loader used, and time
+        log.debug('loaded {} using `{}` in {:0.4f}s'.format(
+            str(loaded), loader.__name__, now() - tic))
     finally:
         # if we failed to load close file
         if opened:

trimesh/exchange/urdf.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 
-from ..constants import log
+from ..constants import log, tol
 from ..decomposition import convex_decomposition
 from ..version import __version__ as trimesh_version
 
@@ -13,25 +13,28 @@ def export_urdf(mesh,
                 color=[0.75, 0.75, 0.75],
                 **kwargs):
     """
-    Convert a Trimesh object into a URDF package for physics simulation.
-    This breaks the mesh into convex pieces and writes them to the same
-    directory as the .urdf file.
+    Convert a Trimesh object into a URDF package for physics
+    simulation. This breaks the mesh into convex pieces and
+    writes them to the same directory as the .urdf file.
 
     Parameters
     ---------
-    mesh      : Trimesh object
+    mesh : trimesh.Trimesh
+      Input geometry
     directory : str
-                  The directory path for the URDF package
+      The directory path for the URDF package
 
     Returns
     ---------
-    mesh : Trimesh object
-             Multi-body mesh containing convex decomposition
+    mesh : Trimesh
+      Multi-body mesh containing convex decomposition
     """
 
     import lxml.etree as et
     # TODO: fix circular import
     from .export import export_mesh
+    from ..resources import get
+
     # Extract the save directory and the file name
     fullpath = os.path.abspath(directory)
     name = os.path.basename(fullpath)
@@ -158,6 +161,13 @@ def export_urdf(mesh,
     description.text = name
 
     tree = et.ElementTree(root)
-    tree.write(os.path.join(fullpath, 'model.config'))
 
+    if tol.strict:
+        schema = et.XMLSchema(file=get(
+            'schema/urdf.xsd', as_stream=True))
+        if not schema.validate(tree):
+            # actual error isn't raised by validate
+            raise ValueError(schema.error_log)
+
+    tree.write(os.path.join(fullpath, 'model.config'))
     return np.sum(convex_pieces)

trimesh/path/exchange/load.py

@@ -31,6 +31,10 @@ def load_path(file_obj, file_type=None, **kwargs):
     path : Path, Path2D, Path3D file_object
         Data as a native trimesh Path file_object
     """
+    # avoid a circular import
+    from ...exchange.load import load_kwargs
+    # record how long we took
+    tic = util.now()
 
     if isinstance(file_obj, Path):
         # we have been passed a Path file_object so
@@ -46,7 +50,8 @@ def load_path(file_obj, file_type=None, **kwargs):
             # get the file type from the extension
             file_type = os.path.splitext(file_obj)[-1][1:].lower()
             # call the loader
-            kwargs.update(path_loaders[file_type](f, file_type=file_type))
+            kwargs.update(path_loaders[file_type](
+                f, file_type=file_type))
     elif util.is_instance_named(file_obj, ['Polygon', 'MultiPolygon']):
         # convert from shapely polygons to Path2D
         kwargs.update(misc.polygon_to_path(file_obj))
@@ -55,16 +60,18 @@ def load_path(file_obj, file_type=None, **kwargs):
         kwargs.update(misc.linestrings_to_path(file_obj))
     elif isinstance(file_obj, dict):
         # load as kwargs
-        from ...exchange.load import load_kwargs
         return load_kwargs(file_obj)
     elif util.is_sequence(file_obj):
         # load as lines in space
         kwargs.update(misc.lines_to_path(file_obj))
     else:
         raise ValueError('Not a supported object type!')
 
-    from ...exchange.load import load_kwargs
-    return load_kwargs(kwargs)
+    result = load_kwargs(kwargs)
+    util.log.debug('loaded {} in {:0.4f}s'.format(
+        str(result), util.now() - tic))
+
+    return result
 
 
 def path_formats():

trimesh/resources/__init__.py

@@ -1,7 +1,7 @@
 import os
 import json
 
-from ..util import decode_text
+from ..util import decode_text, wrap_as_stream
 
 # find the current absolute path to this directory
 _pwd = os.path.expanduser(os.path.abspath(
@@ -11,7 +11,7 @@
 _cache = {}
 
 
-def get(name, decode=True, decode_json=False):
+def get(name, decode=True, decode_json=False, as_stream=False):
     """
     Get a resource from the `trimesh/resources` folder.
 
@@ -23,17 +23,24 @@ def get(name, decode=True, decode_json=False):
       Whether or not to decode result as UTF-8
     decode_json : bool
       Run `json.loads` on resource if True.
+    as_stream : bool
+      Return as a file-like object
 
     Returns
     -------------
     resource : str, bytes, or decoded JSON
       File data
     """
     # key by name and decode
-    cache_key = (name, bool(decode), bool(decode_json))
-    if cache_key in _cache:
-        # return cached resource
-        return _cache[cache_key]
+    cache_key = (name,
+                 bool(decode),
+                 bool(decode_json),
+                 bool(as_stream))
+    cached = _cache.get(cache_key)
+    if hasattr(cached, 'seek'):
+        cached.seek(0)
+    if cached is not None:
+        return cached
 
     # get the resource using relative names
     with open(os.path.join(_pwd, name), 'rb') as f:
@@ -46,6 +53,8 @@ def get(name, decode=True, decode_json=False):
 
     if decode_json:
         resource = json.loads(resource)
+    elif as_stream:
+        resource = wrap_as_stream(resource)
 
     # store for later access
     _cache[cache_key] = resource

trimesh/resources/schema/README.md

@@ -1,3 +1,5 @@
 # trimesh/resources/schemas
 
-Contains [JSON schema](https://json-schema.org/) for exports. The goal is if there is a JSON export format (like the header of a GLTF file) or a `to_dict` method to have a well-defined schema we can validate in unit tests. 
+Contain schemas for formats when available. They are currently mostly [JSON schema](https://json-schema.org/) although if formats have an XSD, DTD, or other schema format we are happy to include it here.
+
+The `primitive` schema directory is a [JSON schema](https://json-schema.org/) for `trimesh` exports. The goal is if we implement a `to_dict` method to have a well-defined schema we can validate in unit tests.