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Add rgba, collision attributes to links #205

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Add rgba, collision attributes to links #205

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d4da298
Add `rgba` parameter to links so additional shapes aren't always dark…
civerachb-cpr Apr 30, 2025
479b119
Add collision attribute to optionally disable collision geometry for …
civerachb-cpr May 1, 2025
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24 changes: 18 additions & 6 deletions clearpath_generator_common/clearpath_generator_common/description/links.py
View file
Original file line number Diff line number Diff line change
@@ -48,6 +48,8 @@ class BaseDescription():

NAME = 'name'
PARENT_LINK = 'parent_link'
RGBA = 'rgba'
COLLISION_ENABLE = 'collision'

def __init__(self, link: BaseLink) -> None:
self.link = link
@@ -57,7 +59,7 @@ def __init__(self, link: BaseLink) -> None:

self.parameters = {
self.NAME: self.link.name,
self.PARENT_LINK: self.link.parent
self.PARENT_LINK: self.link.parent,
}

@property
@@ -74,7 +76,8 @@ class BoxDescription(BaseDescription):
def __init__(self, link: Box) -> None:
super().__init__(link)
self.parameters.update({
self.SIZE: str(link.size).strip('[]').replace(',', '')
self.SIZE: str(link.size).strip('[]').replace(',', ''),
self.RGBA: str(self.link.rgba).strip('[]').replace(',', ''),
})

class CylinderDescription(BaseDescription):
@@ -85,7 +88,9 @@ def __init__(self, link: Cylinder) -> None:
super().__init__(link)
self.parameters.update({
self.RADIUS: link.radius,
self.LENGTH: link.length
self.LENGTH: link.length,
self.RGBA: str(self.link.rgba).strip('[]').replace(',', ''),
self.COLLISION_ENABLE: self.link.collision_enable,
})

class SphereDescription(BaseDescription):
@@ -94,22 +99,29 @@ class SphereDescription(BaseDescription):
def __init__(self, link: Sphere) -> None:
super().__init__(link)
self.parameters.update({
self.RADIUS: link.radius
self.RADIUS: link.radius,
self.RGBA: str(self.link.rgba).strip('[]').replace(',', ''),
self.COLLISION_ENABLE: self.link.collision_enable,
})

class MeshDescription(BaseDescription):
VISUAL = 'visual'

def __init__(self, link: Mesh) -> None:
super().__init__(link)
self.parameters.update({
self.RGBA: str(self.link.rgba).strip('[]').replace(',', ''),
self.COLLISION_ENABLE: self.link.collision_enable,
})
if (link.visual.package):
self.parameters.update({
self.VISUAL: os.path.join('package://' + link.visual.package,
File.clean(link.visual.path, make_abs=False))
File.clean(link.visual.path, make_abs=False)),

})
else:
self.parameters.update({
self.VISUAL: 'file://' + File.clean(link.visual.path, make_abs=False)
self.VISUAL: 'file://' + File.clean(link.visual.path, make_abs=False),
})

MODEL = {
19 changes: 11 additions & 8 deletions clearpath_platform_description/urdf/links/box.urdf.xacro
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,22 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="box" params="name parent_link size *origin">
<xacro:macro name="box" params="name parent_link size rgba collision *origin">
<link name="${name}_link">
<visual>
<geometry>
<box size="${size}"/>
</geometry>
<material name="clearpath_dark_grey"/>
<material name="${name}_rgba">
<color rgba="${rgba}" />
</material>
</visual>
<collision>
<geometry>
<box size="${size}"/>
</geometry>
<material name="clearpath_dark_grey"/>
</collision>
<xacro:if value="${collision}">
<collision>
<geometry>
<box size="${size}"/>
</geometry>
</collision>
</xacro:if>
</link>

<joint name="${name}_joint" type="fixed">
19 changes: 11 additions & 8 deletions clearpath_platform_description/urdf/links/cylinder.urdf.xacro
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,22 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="cylinder" params="name parent_link radius length *origin">
<xacro:macro name="cylinder" params="name parent_link radius length rgba collision *origin">
<link name="${name}_link">
<visual>
<geometry>
<cylinder radius="${radius}" length="${length}"/>
</geometry>
<material name="clearpath_dark_grey"/>
<material name="${name}_rgba">
<color rgba="${rgba}" />
</material>
</visual>
<collision>
<geometry>
<cylinder radius="${radius}" length="${length}"/>
</geometry>
<material name="clearpath_dark_grey"/>
</collision>
<xacro:if value="${collision}">
<collision>
<geometry>
<cylinder radius="${radius}" length="${length}"/>
</geometry>
</collision>
</xacro:if>
</link>

<joint name="${name}_joint" type="fixed">
19 changes: 11 additions & 8 deletions clearpath_platform_description/urdf/links/mesh.urdf.xacro
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,22 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="mesh" params="name parent_link visual *origin">
<xacro:macro name="mesh" params="name parent_link visual rgba collision *origin">
<link name="${name}_link">
<visual>
<geometry>
<mesh filename="${visual}"/>
</geometry>
<material name="clearpath_dark_grey"/>
<material name="${name}_rgba">
<color rgba="${rgba}" />
</material>
</visual>
<collision>
<geometry>
<mesh filename="${visual}"/>
</geometry>
<material name="clearpath_dark_grey"/>
</collision>
<xacro:if value="${collision}">
<collision>
<geometry>
<mesh filename="${visual}"/>
</geometry>
</collision>
</xacro:if>
</link>

<joint name="${name}_joint" type="fixed">
19 changes: 11 additions & 8 deletions clearpath_platform_description/urdf/links/sphere.urdf.xacro
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,22 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="sphere" params="name parent_link radius *origin">
<xacro:macro name="sphere" params="name parent_link radius rgba collision *origin">
<link name="${name}_link">
<visual>
<geometry>
<sphere radius="${radius}"/>
</geometry>
<material name="clearpath_dark_grey"/>
<material name="${name}_rgba">
<color rgba="${rgba}" />
</material>
</visual>
<collision>
<geometry>
<sphere radius="${radius}"/>
</geometry>
<material name="clearpath_dark_grey"/>
</collision>
<xacro:if value="${collision}">
<collision>
<geometry>
<sphere radius="${radius}"/>
</geometry>
</collision>
</xacro:if>
</link>

<joint name="${name}_joint" type="fixed">