From ff5bbb1a4cd8ed567fa260bc916742e425aa1cbc Mon Sep 17 00:00:00 2001
From: zevbo <zevminskyprimus@gmail.com>
Date: Thu, 31 Aug 2023 18:45:21 +0200
Subject: [PATCH] fix: dont add materials randomly (#9)

---
 tests/extender.urdf      |  3 ++
 tests/extender2.urdf     |  3 ++
 tests/output.urdf        |  8 ++---
 urdf_compose/urdf_obj.py | 64 ++--------------------------------------
 4 files changed, 13 insertions(+), 65 deletions(-)

diff --git a/tests/extender.urdf b/tests/extender.urdf
index 01e0d57..1d3f4e3 100644
--- 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
index 16eca42..63a15bc 100644
--- 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
index 6e3a627..1b0fa70 100644
--- 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
index 86b25c8..6167711 100644
--- a/urdf_compose/urdf_obj.py
+++ b/urdf_compose/urdf_obj.py
@@ -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
@@ -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))
 
@@ -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}"