not adding materials randomly

tutorintelligence · Aug 31, 2023 · 5422623 · 5422623
1 parent 8659240
commit 5422623
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Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/tests/extender.urdf b/tests/extender.urdf
@@ -1,5 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot name="vgc10_extender_stick">
+    <material name="Silver">
+        <color rgba="0.753 0.753 0.753 1.0" />
+    </material>
     <link name="INPUT-extender_stick">
         <inertial>
             <origin xyz="-1.14523654741374E-09 -2.79672501268441E-08 0.0228788479998501" rpy="0 0 0" />

diff --git a/tests/extender2.urdf b/tests/extender2.urdf
@@ -1,5 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot name="vgc10_extender_stick">
+    <material name="Silver">
+        <color rgba="0.753 0.753 0.753 1.0" />
+    </material>
     <link name="INPUT-extender_stick-2">
         <inertial>
             <origin xyz="-1.14523654741374E-09 -2.79672501268441E-08 0.0228788479998501" rpy="0 0 0" />

diff --git a/tests/output.urdf b/tests/output.urdf
@@ -1,5 +1,8 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <robot name="vgc10_extender_stick">
+    <material name="Silver">
+        <color rgba="0.753 0.753 0.753 1.0" />
+    </material>
     <link name="INPUT-extender_stick">
         <inertial>
             <origin xyz="-1.14523654741374E-09 -2.79672501268441E-08 0.0228788479998501" rpy="0 0 0" />
@@ -27,10 +30,7 @@
         <child link="CONNECTED:OUTPUT-vgc10_extender_stick" />
         <axis xyz="0 0 0" />
     </joint>
-<material name="Silver">
-        <color rgba="0.753 0.753 0.753 1.0" />
-    </material>
-    <joint name="GENERATED_CONNECTION(1)" type="fixed">
+<joint name="GENERATED_CONNECTION(1)" type="fixed">
     <origin xyz="0 0 0" rpy="0 0 0" />
     <parent link="CONNECTED:OUTPUT-vgc10_extender_stick" />
     <child link="CONNECTED:INPUT-extender_stick(1)" />

diff --git a/urdf_compose/urdf_obj.py b/urdf_compose/urdf_obj.py
@@ -1,9 +1,7 @@
-import copy
 import os
 import subprocess
 import xml.etree.ElementTree as ET
 from pathlib import Path
-from uuid import uuid1
 
 from urdf_compose.xml_utils import elements_equal