GGDL sample program

GGDL (Graph Grammar Definition Language) is an XML-based language to describe a graph grammar. GGDL aims to be a unified description format for graph grammars and the preparation of the specification document is in progress.

This sample program generates URDF files of randomly constructed robots. The construction rule for robots is based on Robogrammar [1]. The GGDL expression of Robogrammar is placed at sample/RoboGrammar.grammar.

Requirement

• NetworkX 3.1~
• Matplotlib 3.7.4~

Usage

Call create_robot.sh at the sample directory. The URDF file of the generated robot is placed at sample/generated_robots as tst.urdf.

If ROS is available, view_urdf.sh launches rviz and shows the content of a URDF file.

Example

sh create_robot.sh

sh view_urdf.sh path/to/a/urdf/file.urdf

Reference

[1] Zhao et al., “Robogrammar: graph grammar for terrain-optimized robot design”, ACM Transactions on Graphics (TOG), 39(6), pp. 1-16, (2020).