read_obj tests

CHANGELOG.rst

@@ -17,6 +17,9 @@ Unreleased
 - Apply `HideOutput` to pybullet IK error printouts in `inverse_kinematics_helper`
 - ``motion_planners`` module up-to-date with `commit e6f23053e<https://github.com/caelan/motion-planners/commit/e6f23053e441af091b898b7f56c6fee48223be48>`_.
 
+**Fixed**
+- Fixed `read_obj` returns empty dict if obj file does not start with objects (``o object_name``)
+
 0.5.1
 ----------
 

src/pybullet_planning/interfaces/geometry/mesh.py

@@ -65,9 +65,21 @@ def get_connected_components(vertices, edges):
             clusters.append(frozenset(cluster))
     return clusters
 
-# TODO consider using: https://github.com/nschloe/meshio ?
-# ! doesn't work if there's no line starts with 'o'
 def read_obj(path, decompose=True):
+    """Read meshes from an obj file.
+
+    Parameters
+    ----------
+    path : string
+        file path to the obj file
+    decompose : bool, optional
+        read meshes as separate component or not, by default True
+
+    Returns
+    -------
+    ``Mesh`` or dict(group name : Mesh)
+        return dict if decompose = True
+    """
     mesh = Mesh([], [])
     meshes = {}
     vertices = []
@@ -77,6 +89,7 @@ def read_obj(path, decompose=True):
         if not tokens:
             continue
         if tokens[0] == 'o':
+            # separate different components (groups)
             name = tokens[1]
             mesh = Mesh([], [])
             meshes[name] = mesh
@@ -91,9 +104,8 @@ def read_obj(path, decompose=True):
             mesh.faces.append(face)
     if not decompose:
         return Mesh(vertices, faces)
-    #if not meshes:
-    #    # TODO: ensure this still works if no objects
-    #    meshes[None] = mesh
+    if not meshes:
+       meshes[None] = mesh
     #new_meshes = {}
     # TODO: make each triangle a separate object
     for name, mesh in meshes.items():

src/pybullet_planning/motion_planners/prm.py

@@ -3,6 +3,8 @@
 import operator
 import time
 
+from ..utils.shared_const import RED
+from ..interfaces.geometry.camera import apply_alpha
 from .utils import INF, get_pairs, merge_dicts, flatten
 
 __all__ = [

tests/test_body.py

@@ -3,6 +3,7 @@
 import pytest
 import pybullet
 import warnings
+import pybullet_planning as pp
 from pybullet_planning import load_pybullet, connect, wait_for_user, LockRenderer, has_gui, WorldSaver, HideOutput, \
     reset_simulation, disconnect, set_camera_pose, has_gui, wait_if_gui
 from pybullet_planning import create_obj, create_attachment, Attachment
@@ -124,3 +125,38 @@ def test_clone_body(viewer, workspace_path, ee_path):
         set_pose(c_ee_c, move_pose)
 
     wait_if_gui()
+
+@pytest.mark.create_body
+@pytest.mark.parametrize("file_format",[
+    ('obj'),
+    ('stl'),
+    # ('dae'),
+    # ('ply'),
+    ]
+)
+def test_create_body(viewer, file_format):
+    here = os.path.dirname(__file__)
+    path = os.path.join(here, 'test_data', 'link_4.' + file_format)
+    connect(use_gui=viewer)
+    try:
+        with HideOutput():
+            body = create_obj(path)
+        wait_if_gui('Body created.')
+    finally:
+        disconnect()
+
+
+@pytest.mark.read_obj
+def test_create_body(viewer):
+    here = os.path.dirname(__file__)
+    path = os.path.join(here, 'test_data', 'box_obstacle.obj')
+    connect(use_gui=viewer)
+    try:
+        mesh = pp.read_obj(path, decompose=False)
+        assert(len(mesh.vertices)==48)
+        assert(len(mesh.faces)==6)
+        meshes = pp.read_obj(path, decompose=True)
+        assert(len(meshes[None].vertices)==48)
+        assert(len(meshes[None].faces)==6)
+    finally:
+        disconnect()