Feature: Link Material

clearpath_config/common/types/material.py

@@ -0,0 +1,98 @@
+# Software License Agreement (BSD)
+#
+# @author    Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2025, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from typing import List
+
+from clearpath_config.common.types.package_path import PackagePath
+
+
+class Material():
+    NAME = 'name'
+    COLOR = 'color'
+    TEXTURE = 'texture'
+
+    def __init__(
+            self,
+            name: str = None,
+            color: List = None,
+            texture: PackagePath | dict = None,
+            ) -> None:
+        self.name = name
+        self.color = color
+        self.texture = texture
+
+    def from_dict(self, d: dict) -> None:
+        if self.NAME in d:
+            self.name = d[self.NAME]
+        if self.COLOR in d:
+            self.color = d[self.COLOR]
+        if self.TEXTURE in d:
+            self.texture in d[self.TEXTURE]
+
+    def to_dict(self) -> dict:
+        return {
+            self.NAME: self.name,
+            self.COLOR: self.color,
+            self.TEXTURE: self.texture
+        }
+
+    @property
+    def name(self) -> str:
+        return self._name
+
+    @name.setter
+    def name(self, name: str) -> None:
+        self._name = name
+
+    @property
+    def color(self) -> List:
+        return self._color
+
+    @color.setter
+    def color(self, color: List) -> None:
+        if color:
+            assert isinstance(color, List), (
+                f'Material color must be a list of floats.'
+                f'Received {color}')
+            assert len(color) == 4, (
+                f'Material color must be a list of 4 floats, representing RGBA.'
+                f'Received list of length {len(color)}')
+        self._color = color
+
+    @property
+    def texture(self) -> PackagePath:
+        return self._texture
+
+    @texture.setter
+    def texture(self, texture: PackagePath | dict):
+        if texture:
+            if isinstance(texture, PackagePath):
+                self._texture = texture
+            if isinstance(texture, dict):
+                self._texture = PackagePath()
+                self._texture.from_dict(dict)
+        self._texture = None

clearpath_config/links/types/link.py

@@ -26,6 +26,7 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 from clearpath_config.common.types.accessory import Accessory
+from clearpath_config.common.types.material import Material
 from typing import List
 
 
@@ -58,6 +59,7 @@ class BaseLink(Accessory):
     LINK_TYPE = "base"
     OFFSET_XYZ = [0.0, 0.0, 0.0]
     OFFSET_RPY = [0.0, 0.0, 0.0]
+    MATERIAL = {'name': 'clearpath_dark_grey'}
 
     def __init__(
             self,
@@ -66,20 +68,23 @@ def __init__(
             xyz: List[float] = Accessory.XYZ,
             rpy: List[float] = Accessory.RPY,
             offset_xyz: List[float] = OFFSET_XYZ,
-            offset_rpy: List[float] = OFFSET_RPY
+            offset_rpy: List[float] = OFFSET_RPY,
+            material: Material | dict = MATERIAL
             ) -> None:
         super().__init__(name, parent, xyz, rpy)
         self.offset_xyz: List[float] = BaseLink.OFFSET_XYZ
         self.set_offset_xyz(offset_xyz)
         self.offset_rpy: List[float] = BaseLink.OFFSET_RPY
         self.set_offset_rpy(offset_rpy)
+        self.material = material
 
     def to_dict(self) -> dict:
         d = {}
         d['name'] = self.get_name()
         d['parent'] = self.get_parent()
         d['xyz'] = self.get_xyz()
         d['rpy'] = self.get_rpy()
+        d['material'] = self.material.to_dict()
         return d
 
     def from_dict(self, d: dict) -> None:
@@ -91,6 +96,8 @@ def from_dict(self, d: dict) -> None:
             self.set_xyz(d['xyz'])
         if 'rpy' in d:
             self.set_rpy(d['rpy'])
+        if 'material' in d:
+            self.material = d['material']
 
     @classmethod
     def get_link_type(cls) -> str:
@@ -112,3 +119,15 @@ def set_offset_rpy(self, rpy: List[float]) -> None:
             "Offset RPY must be a list of exactly three float values"
         )
         self.offset_rpy = rpy
+
+    @property
+    def material(self) -> Material:
+        return self._material
+
+    @material.setter
+    def material(self, material: Material | dict) -> None:
+        if isinstance(material, Material):
+            self._material = material
+        if isinstance(material, dict):
+            self._material = Material()
+            self._material.from_dict(material)