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fix: dont add materials randomly #9

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merged 2 commits into from
Aug 31, 2023
Merged

fix: dont add materials randomly #9

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8659240
those materials shit was frigging random
zevbo Aug 31, 2023
5422623
not adding materials randomly
zevbo Aug 31, 2023
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3 changes: 3 additions & 0 deletions tests/extender.urdf
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Original file line number Diff line number Diff line change
@@ -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" />
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3 changes: 3 additions & 0 deletions tests/extender2.urdf
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Original file line number Diff line number Diff line change
@@ -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" />
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8 changes: 4 additions & 4 deletions tests/output.urdf
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Original file line number Diff line number Diff line change
@@ -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" />
Expand Down Expand Up @@ -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)" />
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64 changes: 3 additions & 61 deletions urdf_compose/urdf_obj.py
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Original file line number Diff line number Diff line change
@@ -1,47 +1,12 @@
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

# URDFObj should not be specific to us as Tutor

std_materials = ET.fromstring(
"""

<!-- Materials -->
<robot>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0" />
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0" />
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0" />
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0" />
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0" />
</material>
<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
</robot>
"""
)


class CheckURDFFailure(Exception):
pass
Expand Down Expand Up @@ -103,20 +68,6 @@ def write_xml(self, dest: Path) -> None:
dest.touch(exist_ok=True)
self.tree.write(str(dest), xml_declaration=True, encoding="UTF-8")

def _add_colors(self) -> None:
materials_used = set()
materials_defined = set()
for material in self.getroot().iter("material"):
name = material.attrib["name"]
if len(material) == 0:
materials_used.add(name)
else:
materials_defined.add(name)

for mat in std_materials:
if mat.attrib["name"] in materials_used and mat.attrib["name"] not in materials_defined:
self.getroot().append(copy.deepcopy(mat))

def __hash__(self) -> int:
return hash(id(self))

Expand Down Expand Up @@ -150,20 +101,11 @@ def __init__(self, path: Path, check: bool = True):
tree = ET.ElementTree()
tree.parse(str(self.path))
super().__init__(tree)
self._add_colors()

if check:
check_file = self.path.parent / f"{self.path.name}_check_urdfOBJ{uuid1()}.urdf"
self.write_xml(check_file)
check_urdf_result = check_urdf(check_file)

if check_file.exists() and check_urdf_result is None:
check_file.unlink()
else:
raise RuntimeError(
f"Attempted to create URDFObj, but given invalid urdf file {path}. You can"
f"check adjusted file at {check_file}. {check_urdf_result=}",
)
check_urdf_result = check_urdf(path)
if check_urdf_result is not None:
raise check_urdf_result

def __repr__(self) -> str:
return f"ExplicitURDFObj from {self.path.name}"
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