robotic 0.2.9.dev1__cp312-cp312-manylinux2014_x86_64.whl → 0.3.0__cp312-cp312-manylinux2014_x86_64.whl

robotic/ry-urdf2rai

@@ -1,222 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-from lxml import etree
-import argparse
-
-parser = argparse.ArgumentParser(description='convert urdf to yaml (rai convention)')
-
-parser.add_argument('urdf_file', type=str,
-                    help='required input file')
-
-parser.add_argument('-coll', type=bool, default=False,
-                    help='use collision shapes?')
-
-parser.add_argument('-meshRemove', type=str, default='package://',
-                    help='a prefix from the mesh files to be removed')
-
-parser.add_argument('-meshExt', type=str,
-                    help='overwrite the mesh file extension')
-
-args = parser.parse_args()
-
-inFile = args.urdf_file
-xmlData = etree.parse(inFile)
-
-useCollisionShapes = False
-if args.coll:
-    useCollisionShapes = True
-
-def writeShape(link):
-    elem = link.find('origin')
-    if elem is not None:
-        xyz = elem.attrib.get('xyz')
-        rpy = elem.attrib.get('rpy')
-        if rpy=='0 0 0':
-            rpy=None
-        if xyz=='0 0 0':
-            xyz=None
-        if xyz is not None and rpy is not None:
-            print(' rel: "t(%s) E(%s)",' % (xyz, rpy), end='')
-        else:
-            if rpy is not None:
-                print(' rel: "E(%s)",' % (rpy), end='')
-            if xyz is not None:
-                print(' rel: [%s],' % (xyz), end='')
-
-    elem = link.find('geometry/box')
-    if elem is not None:
-        print(' shape: box\n  size: [%s 0],' % elem.attrib['size'], end='')
-
-    elem = link.find('geometry/sphere')
-    if elem is not None:
-        print(' shape: sphere\n  size: [0 0 0 %s],' % elem.attrib['radius'], end='')
-
-    elem = link.find('geometry/cylinder')
-    if elem is not None:
-        print(' shape: cylinder\n  size: [0 0 %s %s],' % (elem.attrib['length'], elem.attrib['radius']), end='')
-
-    elem = link.find('geometry/mesh')
-    if elem is not None:
-        filename = elem.attrib['filename'].replace(args.meshRemove,'',1)
-        if args.meshExt is not None:
-            filename = filename[:-3] + args.meshExt
-        print(' mesh: <%s>,' % filename, end='')
-        if elem.find('scale') is not None:
-            print(' meshscale: [%s],' % elem.attrib['scale'], end='')
-
-    elem = link.find('material/color')
-    if elem is not None:
-        print(' color: [%s],' % elem.attrib['rgba'], end='')
-
-#    elem = link.find('material')
-#    if elem is not None:
-#        if elem.attrib['name'] is not None:
-#            print('colorName:%s' % elem.attrib['name'])
-
-
-links = xmlData.findall('./link')
-for link in links:
-    name = link.attrib['name']
-    print('%s: {' % name, end='')
-
-    elem = link.find('inertial/mass')
-    if elem is not None:
-        print(' mass: %s,' % elem.attrib['value'], end='')
-
-    elem = link.find('inertial/inertia')
-    if elem is not None:
-        print(' inertia: [%s %s %s %s %s %s],' % (
-            elem.attrib['ixx'],
-            elem.attrib['ixy'],
-            elem.attrib['ixz'],
-            elem.attrib['iyy'],
-            elem.attrib['iyz'],
-            elem.attrib['izz']), end='')
-
-    print('}') # end of body
-
-    # visual shape
-    for visual in link.findall('visual'):
-        print('%s_0 (%s): {' % (name, name), end='')
-        writeShape(visual)
-        #if not useCollisionShapes:
-        #    print(' contact: -2,', end='')
-        print(' visual: true }') # end of shape
-
-    # collision shape
-    if useCollisionShapes:
-        for collision in link.findall('collision'):
-            print('%s_1 (%s): {' % (name, name), end='')
-            print(' color: [.8 .2 .2 .5],', end='')
-            writeShape(collision)
-            print(' contact: -2 }') # end of shape
-
-
-joints = xmlData.findall('./joint')
-for joint in joints:
-    name = joint.attrib['name']
-    if joint.find('child') is not None:
-
-        parent = joint.find('parent').attrib['link']
-
-        # add an origin frame as pre frame?
-        elem = joint.find('origin')
-        if elem is not None:
-            xyz = elem.attrib.get('xyz')
-            rpy = elem.attrib.get('rpy')
-            if rpy=='0 0 0':
-                rpy=None
-            if xyz=='0 0 0':
-                xyz=None
-            if xyz is not None and rpy is not None:
-                print('%s (%s): { Q: "t(%s) E(%s)" }' % (name+'_origin', parent, xyz, rpy))
-                parent = name+'_origin'
-            elif rpy is not None:
-                print('%s (%s): { Q: "E(%s)" }' % (name+'_origin', parent, rpy))
-                parent = name+'_origin'
-            elif xyz is not None:
-                print('%s (%s): { Q: [%s] }' % (name+'_origin', parent, xyz))
-                parent = name+'_origin'
-
-        #print('%s (%s): {' % (name, parent), end='')
-        print('%s (%s %s): {' % (name, parent, joint.find('child').attrib['link']), end='')
-
-        # figure out joint type
-        att = joint.attrib.get('type')
-        
-        if att in ['revolute', 'continuous']:
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    print(' joint: hingeX,', end='')
-                elif axis=='0 1 0':
-                    print(' joint: hingeY,', end='')
-                elif axis=='0 0 1':
-                    print(' joint: hingeZ,', end='')
-                elif axis=='0 0 -1':
-                    print(' joint: hingeZ, joint_scale: -1,', end='')
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                print(' joint: hingeX,', end='')
-                
-        if att == 'prismatic':
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    print(' joint: transX,', end='')
-                elif axis=='0 1 0':
-                    print(' joint: transY,', end='')
-                elif axis=='0 -1 0':
-                    print(' joint: transY, joint_scale: -1,', end='')
-                elif axis=='0 0 1':
-                    print(' joint: transZ,', end='')
-                elif axis=='0 0 -1':
-                    print(' joint: transZ, joint_scale: -1,', end='')
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                print(' joint: transX,', end='')
-                
-        if att == 'fixed':
-            print(' joint: rigid,', end='')
-
-        elem = joint.find('mimic')
-        if elem is not None:
-            print(' mimic: %s,' % elem.attrib['joint'], end='')
-
-        #elem = joint.find('axis')
-        #if elem is not None:
-        #    print('axis:[%s]' % elem.attrib['xyz'])
-
-        elem = joint.find('limit')
-        if elem is not None:
-            lo = elem.attrib.get('lower')
-            up = elem.attrib.get('upper')
-            eff = elem.attrib.get('effort')
-            vel = elem.attrib.get('velocity')
-            if eff=='0':
-                eff=None
-            if vel=='0':
-                vel=None
-            if lo is not None:
-                print(' limits: [%s %s],' % (lo, up), end='')
-            if vel is not None:
-                print(' ctrl_limits: [%s -1 %s],' % (vel, eff), end='') #the 2nd value is an acceleration limit
-        else:
-            elem = joint.find('safety_controller')
-            if elem is not None:
-                lo = elem.attrib.get('soft_lower_limit')
-                up = elem.attrib.get('soft_upper_limit')
-                if lo is not None:
-                    print(' limits: [%s %s],' % (lo, up), end='')
-
-        print('}')
-
-        #print('Edit %s (%s): {}' % (joint.find('child').attrib['link'], name) )
-
-#print(etree.tostring(links[22]))
-#print(etree.tostring(joints[0]))

robotic/ry-urdf2yaml

@@ -1,250 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-from lxml import etree
-import argparse
-import yaml
-#from ruamel import yaml
-
-parser = argparse.ArgumentParser(description='convert urdf to yaml (rai convention)')
-
-parser.add_argument('urdf_file', type=str,
-                    help='required input file')
-
-parser.add_argument('-coll', type=bool, default=False,
-                    help='use collision shapes?')
-
-parser.add_argument('-meshRemove', type=str, default='package://',
-                    help='a prefix from the mesh files to be removed')
-
-parser.add_argument('-meshExt', type=str,
-                    help='overwrite the mesh file extension')
-
-args = parser.parse_args()
-
-# yaml dump tweaks
-class noflow_dict(dict):
-    pass
-def noflow_dict_rep(dumper, data):
-    return dumper.represent_mapping("tag:yaml.org,2002:map", data, flow_style=False)
-yaml.add_representer(noflow_dict, noflow_dict_rep)
-
-class quoted_string(str):
-    pass
-def quoted_string_rep(dumper, data):
-    return dumper.represent_scalar("tag:yaml.org,2002:str", data, style='"')
-yaml.add_representer(quoted_string, quoted_string_rep)
-
-def writeShape(_elem, link):
-    elem = link.find('origin')
-    if elem is not None:
-        xyz = elem.attrib.get('xyz')
-        rpy = elem.attrib.get('rpy')
-        if rpy=='0 0 0':
-            rpy=None
-        if xyz=='0 0 0':
-            xyz=None
-        if xyz is not None and rpy is not None:
-            _elem['rel'] = quoted_string("t(%s) E(%s)" % (xyz, rpy))
-        else:
-            if rpy is not None:
-                _elem['rel'] = quoted_string("E(%s)" % (rpy))
-            if xyz is not None:
-                _elem['rel'] = quoted_string("[%s]" % (xyz))
-
-    elem = link.find('geometry/box')
-    if elem is not None:
-        _elem['shape']='box'
-        _elem['size'] = [float(s) for s in elem.attrib['size'].split()]
-
-    elem = link.find('geometry/sphere')
-    if elem is not None:
-        _elem['shape']='sphere'
-        _elem['size'] = [float(elem.attrib['radius'])]
-
-    elem = link.find('geometry/cylinder')
-    if elem is not None:
-        _elem['shape']='cylinder'
-        _elem['size'] = [float(elem.attrib['length']), float(elem.attrib['radius'])]
-
-    elem = link.find('geometry/mesh')
-    if elem is not None:
-        filename = elem.attrib['filename'].replace(args.meshRemove,'',1)
-        if args.meshExt is not None:
-            filename = filename[:-3] + args.meshExt
-        _elem['mesh'] = '<%s>' % filename
-        if elem.find('scale') is not None:
-            _elem['meshscale'] = float(elem.attrib['scale'])
-
-    elem = link.find('material/color')
-    if elem is not None:
-        _elem['color'] = elem.attrib['rgba']
-
-#    elem = link.find('material')
-#    if elem is not None:
-#        if elem.attrib['name'] is not None:
-#            print('colorName:%s' % elem.attrib['name'])
-
-
-def addLink(config, link, useCollisionShapes):
-    name = link.attrib['name']
-    _link = dict()
-    config[name] = _link
-
-    elem = link.find('inertial/mass')
-    if elem is not None:
-        _link['mass'] = float(elem.attrib['value'])
-
-    elem = link.find('inertial/inertia')
-    if elem is not None:
-        _link['inertia'] = [float(elem.attrib['ixx']), float(elem.attrib['ixy']), float(elem.attrib['ixz']),
-                            float(elem.attrib['iyy']), float(elem.attrib['iyz']),
-                            float(elem.attrib['izz'])]
-
-    # visual shape
-    for visual in link.findall('visual'):
-        _shape = dict()
-        config[f'{name}_0 ({name})'] = _shape
-        writeShape(_shape, visual)
-        _shape['visual'] = True
-
-    # collision shape
-    if useCollisionShapes:
-        for collision in link.findall('collision'):
-            _shape = dict()
-            config[f'{name}_1 ({name})'] = _shape
-            _shape['color'] = [.8, .2, .2, .5]
-            writeShape(_shape, collision)
-            _shape['contact'] = -2
-
-def addJoint(config, joint):
-    name = joint.attrib['name']
-
-    if joint.find('child') is not None:
-
-        parent = joint.find('parent').attrib['link']
-
-        # add an origin frame as pre frame?
-        elem = joint.find('origin')
-        if elem is not None:
-            xyz = elem.attrib.get('xyz')
-            rpy = elem.attrib.get('rpy')
-            if rpy=='0 0 0':
-                rpy=None
-            if xyz=='0 0 0':
-                xyz=None
-            if xyz is not None and rpy is not None:
-                _joint = dict()
-                config[f'{name+"_origin"} ({parent})'] = _joint
-                _joint['Q'] = quoted_string("t(%s) E(%s)" % (xyz, rpy))
-                parent = name+'_origin'
-            elif rpy is not None:
-                _joint = dict()
-                config[f'{name+"_origin"} ({parent})'] = _joint
-                _joint['Q'] = quoted_string("E(%s)" % (rpy))
-                parent = name+'_origin'
-            elif xyz is not None:
-                _joint = dict()
-                config[f'{name+"_origin"} ({parent})'] = _joint
-                _joint['Q'] = quoted_string("t(%s)" % (xyz))
-                parent = name+'_origin'
-
-        _joint = dict()
-        config[f'{name} ({parent} {joint.find("child").attrib["link"]})'] = _joint
-
-        # figure out joint type
-        att = joint.attrib.get('type')
-        
-        if att in ['revolute', 'continuous']:
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    _joint['joint'] = 'hingeX'
-                elif axis=='0 1 0':
-                    _joint['joint'] = 'hingeY'
-                elif axis=='0 0 1':
-                    _joint['joint'] = 'hingeZ'
-                elif axis=='0 0 -1':
-                    _joint['joint'] = 'hingeZ'
-                    _joint['joint_scale'] = -1
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                _joint['joint'] = 'hingeX'
-                
-        if att == 'prismatic':
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    _joint['joint'] = 'transX'
-                elif axis=='-1 0 0':
-                    _joint['joint'] = 'transX'
-                    _joint['joint_scale'] = -1
-                elif axis=='0 1 0':
-                    _joint['joint'] = 'transY'
-                elif axis=='0 -1 0':
-                    _joint['joint'] = 'transY'
-                    _joint['joint_scale'] = -1
-                elif axis=='0 0 1':
-                    _joint['joint'] = 'transZ'
-                elif axis=='0 0 -1':
-                    _joint['joint'] = 'transZ'
-                    _joint['joint_scale'] = -1
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                _joint['joint'] = 'transX'
-                
-        if att == 'fixed':
-            _joint['joint'] = 'rigid'
-
-        elem = joint.find('mimic')
-        if elem is not None:
-            _joint['mimic'] = elem.attrib['joint']
-
-        elem = joint.find('limit')
-        if elem is not None:
-            lo = elem.attrib.get('lower')
-            up = elem.attrib.get('upper')
-            eff = elem.attrib.get('effort')
-            vel = elem.attrib.get('velocity')
-            if eff=='0':
-                eff=None
-            if vel=='0':
-                vel=None
-            if lo is not None:
-                _joint['limits'] = [float(lo), float(up)]
-            if vel is not None:
-                _joint['ctrl_limits'] = [float(vel), -1, float(eff)] #the 2nd value is an acceleration limit
-        else:
-            elem = joint.find('safety_controller')
-            if elem is not None:
-                lo = float(elem.attrib.get('soft_lower_limit'))
-                up = float(elem.attrib.get('soft_upper_limit'))
-                if lo is not None:
-                    _joint['limits'] = [lo, up]
-
-#print(etree.tostring(links[22]))
-#print(etree.tostring(joints[0]))
-
-def main():
-    inFile = args.urdf_file
-    xmlData = etree.parse(inFile)
-
-    config = dict()
-
-    links = xmlData.findall('/link')
-    for link in links:
-        addLink(config, link, args.coll)
-
-    joints = xmlData.findall('/joint')
-    for joint in joints:
-        addJoint(config, joint)
-
-    with open('z.yaml', 'w') as fil:
-        yaml.dump(noflow_dict(config), fil, default_flow_style=True, sort_keys=False, width=500)
-    
-if __name__ == "__main__":
-    main()

robotic-0.2.9.dev1.data/scripts/ry-urdf2rai

@@ -1,222 +0,0 @@
-#!python
-
-import sys
-from lxml import etree
-import argparse
-
-parser = argparse.ArgumentParser(description='convert urdf to yaml (rai convention)')
-
-parser.add_argument('urdf_file', type=str,
-                    help='required input file')
-
-parser.add_argument('-coll', type=bool, default=False,
-                    help='use collision shapes?')
-
-parser.add_argument('-meshRemove', type=str, default='package://',
-                    help='a prefix from the mesh files to be removed')
-
-parser.add_argument('-meshExt', type=str,
-                    help='overwrite the mesh file extension')
-
-args = parser.parse_args()
-
-inFile = args.urdf_file
-xmlData = etree.parse(inFile)
-
-useCollisionShapes = False
-if args.coll:
-    useCollisionShapes = True
-
-def writeShape(link):
-    elem = link.find('origin')
-    if elem is not None:
-        xyz = elem.attrib.get('xyz')
-        rpy = elem.attrib.get('rpy')
-        if rpy=='0 0 0':
-            rpy=None
-        if xyz=='0 0 0':
-            xyz=None
-        if xyz is not None and rpy is not None:
-            print(' rel: "t(%s) E(%s)",' % (xyz, rpy), end='')
-        else:
-            if rpy is not None:
-                print(' rel: "E(%s)",' % (rpy), end='')
-            if xyz is not None:
-                print(' rel: [%s],' % (xyz), end='')
-
-    elem = link.find('geometry/box')
-    if elem is not None:
-        print(' shape: box\n  size: [%s 0],' % elem.attrib['size'], end='')
-
-    elem = link.find('geometry/sphere')
-    if elem is not None:
-        print(' shape: sphere\n  size: [0 0 0 %s],' % elem.attrib['radius'], end='')
-
-    elem = link.find('geometry/cylinder')
-    if elem is not None:
-        print(' shape: cylinder\n  size: [0 0 %s %s],' % (elem.attrib['length'], elem.attrib['radius']), end='')
-
-    elem = link.find('geometry/mesh')
-    if elem is not None:
-        filename = elem.attrib['filename'].replace(args.meshRemove,'',1)
-        if args.meshExt is not None:
-            filename = filename[:-3] + args.meshExt
-        print(' mesh: <%s>,' % filename, end='')
-        if elem.find('scale') is not None:
-            print(' meshscale: [%s],' % elem.attrib['scale'], end='')
-
-    elem = link.find('material/color')
-    if elem is not None:
-        print(' color: [%s],' % elem.attrib['rgba'], end='')
-
-#    elem = link.find('material')
-#    if elem is not None:
-#        if elem.attrib['name'] is not None:
-#            print('colorName:%s' % elem.attrib['name'])
-
-
-links = xmlData.findall('./link')
-for link in links:
-    name = link.attrib['name']
-    print('%s: {' % name, end='')
-
-    elem = link.find('inertial/mass')
-    if elem is not None:
-        print(' mass: %s,' % elem.attrib['value'], end='')
-
-    elem = link.find('inertial/inertia')
-    if elem is not None:
-        print(' inertia: [%s %s %s %s %s %s],' % (
-            elem.attrib['ixx'],
-            elem.attrib['ixy'],
-            elem.attrib['ixz'],
-            elem.attrib['iyy'],
-            elem.attrib['iyz'],
-            elem.attrib['izz']), end='')
-
-    print('}') # end of body
-
-    # visual shape
-    for visual in link.findall('visual'):
-        print('%s_0 (%s): {' % (name, name), end='')
-        writeShape(visual)
-        #if not useCollisionShapes:
-        #    print(' contact: -2,', end='')
-        print(' visual: true }') # end of shape
-
-    # collision shape
-    if useCollisionShapes:
-        for collision in link.findall('collision'):
-            print('%s_1 (%s): {' % (name, name), end='')
-            print(' color: [.8 .2 .2 .5],', end='')
-            writeShape(collision)
-            print(' contact: -2 }') # end of shape
-
-
-joints = xmlData.findall('./joint')
-for joint in joints:
-    name = joint.attrib['name']
-    if joint.find('child') is not None:
-
-        parent = joint.find('parent').attrib['link']
-
-        # add an origin frame as pre frame?
-        elem = joint.find('origin')
-        if elem is not None:
-            xyz = elem.attrib.get('xyz')
-            rpy = elem.attrib.get('rpy')
-            if rpy=='0 0 0':
-                rpy=None
-            if xyz=='0 0 0':
-                xyz=None
-            if xyz is not None and rpy is not None:
-                print('%s (%s): { Q: "t(%s) E(%s)" }' % (name+'_origin', parent, xyz, rpy))
-                parent = name+'_origin'
-            elif rpy is not None:
-                print('%s (%s): { Q: "E(%s)" }' % (name+'_origin', parent, rpy))
-                parent = name+'_origin'
-            elif xyz is not None:
-                print('%s (%s): { Q: [%s] }' % (name+'_origin', parent, xyz))
-                parent = name+'_origin'
-
-        #print('%s (%s): {' % (name, parent), end='')
-        print('%s (%s %s): {' % (name, parent, joint.find('child').attrib['link']), end='')
-
-        # figure out joint type
-        att = joint.attrib.get('type')
-        
-        if att in ['revolute', 'continuous']:
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    print(' joint: hingeX,', end='')
-                elif axis=='0 1 0':
-                    print(' joint: hingeY,', end='')
-                elif axis=='0 0 1':
-                    print(' joint: hingeZ,', end='')
-                elif axis=='0 0 -1':
-                    print(' joint: hingeZ, joint_scale: -1,', end='')
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                print(' joint: hingeX,', end='')
-                
-        if att == 'prismatic':
-            elem = joint.find('axis')
-            if elem is not None:
-                axis = elem.attrib['xyz']
-                if axis=='1 0 0':
-                    print(' joint: transX,', end='')
-                elif axis=='0 1 0':
-                    print(' joint: transY,', end='')
-                elif axis=='0 -1 0':
-                    print(' joint: transY, joint_scale: -1,', end='')
-                elif axis=='0 0 1':
-                    print(' joint: transZ,', end='')
-                elif axis=='0 0 -1':
-                    print(' joint: transZ, joint_scale: -1,', end='')
-                else:
-                    raise Exception('CAN ONLY PROCESS X Y Z prismatic joints, not', axis)
-            else:
-                print(' joint: transX,', end='')
-                
-        if att == 'fixed':
-            print(' joint: rigid,', end='')
-
-        elem = joint.find('mimic')
-        if elem is not None:
-            print(' mimic: %s,' % elem.attrib['joint'], end='')
-
-        #elem = joint.find('axis')
-        #if elem is not None:
-        #    print('axis:[%s]' % elem.attrib['xyz'])
-
-        elem = joint.find('limit')
-        if elem is not None:
-            lo = elem.attrib.get('lower')
-            up = elem.attrib.get('upper')
-            eff = elem.attrib.get('effort')
-            vel = elem.attrib.get('velocity')
-            if eff=='0':
-                eff=None
-            if vel=='0':
-                vel=None
-            if lo is not None:
-                print(' limits: [%s %s],' % (lo, up), end='')
-            if vel is not None:
-                print(' ctrl_limits: [%s -1 %s],' % (vel, eff), end='') #the 2nd value is an acceleration limit
-        else:
-            elem = joint.find('safety_controller')
-            if elem is not None:
-                lo = elem.attrib.get('soft_lower_limit')
-                up = elem.attrib.get('soft_upper_limit')
-                if lo is not None:
-                    print(' limits: [%s %s],' % (lo, up), end='')
-
-        print('}')
-
-        #print('Edit %s (%s): {}' % (joint.find('child').attrib['link'], name) )
-
-#print(etree.tostring(links[22]))
-#print(etree.tostring(joints[0]))