Merge pull request #51 from GiulioRomualdi/assigned_color

Add the possibility to assign the colors in the yaml file when the urdf model is generated

CHANGELOG.md

@@ -1,10 +1,12 @@
 # Changelog
 All notable changes to this project will be documented in this file.
 
-The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). 
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
 ## [Unreleased]
+### Add
+- Add the possibility to assign the colors in the yaml file when the urdf model is generated (https://github.com/robotology/simmechanics-to-urdf/pull/51)
 
 ## [0.3.0] - 2022-01-28
 

README.md

@@ -143,6 +143,7 @@ The parameter accepted by the script are documented in the following.
 | `scale` | String |  None | If this parameter is defined, the scale attribute of the mesh in the URDF will be set to its value. Example: "0.01 0.01 0.01" - if your meshes were saved using centimeters as units instead of meters.  |
 | `stringToRemoveFromMeshFileName` | String |  None | This parameter allows to specify a string that will be removed from the mesh file names. Example: "_prt"  |
 | `assignedCollisionGeometry` | Array |  None | Structure for redefining the collision geometry for a given link.  |
+| `assignedColors` | Map |  {} (Empty Map) | If a link is in this map, the color found in the SimMechanics file is substituted with the one passed through this map. The color is represented by a 4 element vector of containing numbers from 0 to 1 representing the red, green, blue and alpha component.  |
 
 ###### Assigned collision geometries (keys of elements of `assignedCollisionGeometry`)
 | Attribute name   | Type   | Default Value | Description  |

simmechanics_to_urdf/firstgen.py

@@ -498,6 +498,7 @@ def parseYAMLConfig(self, configFile):
 
         # Get map of links for which we explicitly assign the mass
         self.assignedMasses = configuration.get('assignedMasses', {})
+        self.assignedColors = configuration.get('assignedColors', {})
 
         # Get map of links for which we explicitly assign the mass
         self.assignedInertiasMap = {}
@@ -1113,7 +1114,10 @@ def outputLink(self, id):
             # Define Material
             visual.material = urdf_parser_py.urdf.Material()
             # Use specified color, if exists. Otherwise, get random color
-            if 'color' in linkdict:
+            if id in self.assignedColors.keys():
+                cname = "%s_color" % id
+                (r, g, b, a) = self.assignedColors[id]
+            elif 'color' in linkdict:
                 cname = "%s_color" % id
                 (r, g, b, a) = linkdict['color']
             else: