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Link Visual and Collision are not exported to XML #80

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Link Visual and Collision are not exported to XML #80

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a3258ee
update backward compatibility on visual and collisions (#47)
k-okada Mar 11, 2020
d4d94d2
Remove test for visual with name
AdrianZw Jul 11, 2023
ab75ec7
Add method for multiple visual and collision props
AdrianZw Sep 4, 2023
de25440
Add methods to remove visuall and collision objs
AdrianZw Sep 12, 2023
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8 changes: 8 additions & 0 deletions src/urdf_parser_py/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -355,8 +355,12 @@ def __init__(self, name=None, visual=None, inertial=None, collision=None,
self.aggregate_init()
self.name = name
self.visuals = []
if visual:
self.visual = visual
self.inertial = inertial
self.collisions = []
if collision:
self.collision = collision
self.origin = origin

def __get_visual(self):
Expand All @@ -370,6 +374,8 @@ def __set_visual(self, visual):
self.visuals[0] = visual
else:
self.visuals.append(visual)
if visual:
self.add_aggregate('visual', visual)
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def __get_collision(self):
"""Return the first collision or None."""
Expand All @@ -382,6 +388,8 @@ def __set_collision(self, collision):
self.collisions[0] = collision
else:
self.collisions.append(collision)
if collision:
self.add_aggregate('collision', collision)

# Properties for backwards compatibility
visual = property(__get_visual, __set_visual)
Expand Down
125 changes: 124 additions & 1 deletion test/test_urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,12 @@ def parse_and_compare(self, orig):
rewritten = minidom.parseString(robot.to_xml_string())
self.assertTrue(xml_matches(xml, rewritten))

def xml_and_compare(self, robot, xml):
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))

def test_new_transmission(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand All @@ -46,6 +52,18 @@ def test_new_transmission(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
trans = urdf.Transmission(name='simple_trans')
trans.type = 'transmission_interface/SimpleTransmission'
joint = urdf.TransmissionJoint(name='foo_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
actuator = urdf.Actuator(name='foo_motor')
actuator.mechanicalReduction = 50.0
trans.add_aggregate('actuator', actuator)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_new_transmission_multiple_joints(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand All @@ -65,6 +83,22 @@ def test_new_transmission_multiple_joints(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
trans = urdf.Transmission(name='simple_trans')
trans.type = 'transmission_interface/SimpleTransmission'
joint = urdf.TransmissionJoint(name='foo_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
joint = urdf.TransmissionJoint(name='bar_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
actuator = urdf.Actuator(name='foo_motor')
actuator.mechanicalReduction = 50.0
trans.add_aggregate('actuator', actuator)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_new_transmission_multiple_actuators(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand All @@ -81,6 +115,20 @@ def test_new_transmission_multiple_actuators(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
trans = urdf.Transmission(name='simple_trans')
trans.type = 'transmission_interface/SimpleTransmission'
joint = urdf.TransmissionJoint(name='foo_joint')
joint.add_aggregate('hardwareInterface', 'EffortJointInterface')
trans.add_aggregate('joint', joint)
actuator = urdf.Actuator(name='foo_motor')
actuator.mechanicalReduction = 50.0
trans.add_aggregate('actuator', actuator)
actuator = urdf.Actuator(name='bar_motor')
trans.add_aggregate('actuator', actuator)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_new_transmission_missing_joint(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand Down Expand Up @@ -113,6 +161,11 @@ def test_old_transmission(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
trans = urdf.PR2Transmission(name='PR2_trans', joint='foo_joint', actuator='foo_motor', type='SimpleTransmission', mechanicalReduction=1.0)
robot.add_aggregate('transmission', trans)
self.xml_and_compare(robot, xml)

def test_link_material_missing_color_and_texture(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand All @@ -127,6 +180,20 @@ def test_link_material_missing_color_and_texture(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link',
visual=urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat')))
robot.add_link(link)
self.xml_and_compare(robot, xml)

robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat'))
robot.add_link(link)
self.xml_and_compare(robot, xml)

def test_robot_material(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand All @@ -136,6 +203,11 @@ def test_robot_material(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
material = urdf.Material(name='mat', color=urdf.Color([0.0, 0.0, 0.0, 1.0]))
robot.add_aggregate('material', material)
self.xml_and_compare(robot, xml)

def test_robot_material_missing_color_and_texture(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand Down Expand Up @@ -163,6 +235,15 @@ def test_link_multiple_visual(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat'))
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2'))
robot.add_link(link)
self.xml_and_compare(robot, xml)

def test_link_multiple_collision(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
Expand All @@ -181,6 +262,13 @@ def test_link_multiple_collision(self):
</robot>'''
self.parse_and_compare(xml)

robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=1, radius=1))
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=4, radius=0.5))
robot.add_link(link)
self.xml_and_compare(robot, xml)

def test_version_attribute_not_enough_dots(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1">
Expand Down Expand Up @@ -293,7 +381,7 @@ def test_robot_link_defaults_xyz_set(self):
class LinkMultiVisualsAndCollisionsTest(unittest.TestCase):

xml = '''<?xml version="1.0"?>
<robot name="test">
<robot name="test" version="1.0">
<link name="link">
<visual>
<geometry>
Expand Down Expand Up @@ -345,6 +433,41 @@ def test_multi_collision_access(self):
robot.links[0].collision = dummyObject
self.assertEqual(id(dummyObject), id(robot.links[0].collisions[0]))

def test_xml_and_urdfdom_robot_compatible_with_kinetic(self):
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat'))
link.visual = urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2'))
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=1, radius=1))
link.collision = urdf.Collision(geometry=urdf.Cylinder(length=4, radius=0.5))
robot.add_link(link)
link = urdf.Link(name='link2')
robot.add_link(link)
#
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(self.xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))

def test_xml_and_urdfdom_robot_only_supported_since_melodic(self):
robot = urdf.Robot(name='test', version='1.0')
link = urdf.Link(name='link')
link.add_aggregate('visual', urdf.Visual(geometry=urdf.Cylinder(length=1, radius=1),
material=urdf.Material(name='mat')))
link.add_aggregate('visual', urdf.Visual(geometry=urdf.Cylinder(length=4, radius=0.5),
material=urdf.Material(name='mat2')))
link.add_aggregate('collision', urdf.Collision(geometry=urdf.Cylinder(length=1, radius=1)))
link.add_aggregate('collision', urdf.Collision(geometry=urdf.Cylinder(length=4, radius=0.5)))
robot.add_link(link)
link = urdf.Link(name='link2')
robot.add_link(link)
#
robot_xml_string = robot.to_xml_string()
robot_xml = minidom.parseString(robot_xml_string)
orig_xml = minidom.parseString(self.xml)
self.assertTrue(xml_matches(robot_xml, orig_xml))

class TestCreateNew(unittest.TestCase):
def test_new_urdf(self):
Expand Down