Merge pull request #21 from clemense/clemense/bugfix_material_tag

Bugfix: Material Tag

src/yourdfpy/urdf.py

@@ -419,11 +419,14 @@ def apply_visual_color(
     """
     if visual.material is None:
         return
-    color = (
-        material_map[visual.material.name].color
-        if visual.material.name
-        else visual.material.color
-    )
+
+    if visual.material.color is not None:
+        color = visual.material.color
+    elif visual.material.name is not None and visual.material.name in material_map:
+        color = material_map[visual.material.name].color
+    else:
+        return
+
     if color is None:
         return
     if isinstance(geom.visual, trimesh.visual.ColorVisuals):
@@ -951,7 +954,7 @@ def load(fname_or_file, **kwargs):
 
         try:
             parser = etree.XMLParser(remove_blank_text=True)
-            tree = etree.parse(fname_or_file, parser)
+            tree = etree.parse(fname_or_file, parser=parser)
             xml_root = tree.getroot()
         except Exception as e:
             _logger.error(e)

tests/test_urdf.py

@@ -1,5 +1,6 @@
 import pytest
 import os
+import io
 
 from yourdfpy import urdf
 
@@ -54,3 +55,50 @@ def test_equality_different_link_order():
     robot_1.links.append(urdf.Link(name="link_0"))
 
     assert robot_0 == robot_1
+
+
+def test_material_color():
+    urdf_str = """
+    <robot name="material_test">
+        <link name="link_0">
+            <visual>
+                <geometry>
+                    <sphere radius="1" />
+                </geometry>
+                <material name="red_material">
+                    <color rgba="1.0 0.0 0.0 1.0" />
+                </material>
+            </visual>
+        </link>
+    </robot>
+    """
+    with io.StringIO(urdf_str) as f:
+        urdf_model = urdf.URDF.load(f)
+
+        assert urdf_model.robot.links[0].visuals[0].material.name == "red_material"
+        assert all(
+            urdf_model.robot.links[0].visuals[0].material.color.rgba == [1, 0, 0, 1]
+        )
+
+
+def test_material_mapping():
+    urdf_str = """
+    <robot name="material_test">
+        <link name="link_0">
+            <visual>
+                <geometry>
+                    <sphere radius="1" />
+                </geometry>
+                <material name="red_material" />
+            </visual>
+        </link>
+        <material name="red_material">
+            <color rgba="1.0 0.0 0.0 1.0" />
+        </material>
+    </robot>
+    """
+    with io.StringIO(urdf_str) as f:
+        urdf_model = urdf.URDF.load(f)
+
+        assert urdf_model.robot.links[0].visuals[0].material.name == "red_material"
+        assert all(urdf_model._material_map["red_material"].color.rgba == [1, 0, 0, 1])