Clean-up & bugfixes for KCCD

phobos/core/robot.py

@@ -456,7 +456,8 @@ def export_kccd(self, outputdir, rel_iv_meshes_path, output_mesh_format, join_be
                 origin=link.collisions[0].origin,
                 geometry=link.collisions[0].geometry,
             ))
-        kccd_robot.export_urdf(outputfile=kccd_urdf)
+        kccd_robot.export_meshes(kccd_meshes, format="stl", apply_scale=True)
+        kccd_robot.export_urdf(outputfile=kccd_urdf, mesh_format="stl")
         execute_shell_command("urdf2kccd -b " + self.name.replace('/','_') + ".urdf", cwd=kccd_path)
         kccd_kinematics_file = open(kccd_urdf[:-5] + "Kinematics.cfg", "r").read().split("\n\n")
         kccd_kinematics = {}
@@ -658,12 +659,14 @@ def add_joint(joint):
         graph = pydot.graph_from_dot_data(out)
         graph[0].write_pdf(outputfile)
 
-    def export(self, outputdir, export_config, rel_mesh_pathes=None, ros_pkg_name=None, no_smurf=False,
+    def export(self, outputdir, export_config=None, rel_mesh_pathes=None, ros_pkg_name=None, no_smurf=False,
                ros_pkg_later=False, check_submechs=True, with_meshes=True, use_existing_meshes=False, apply_scale=False):
         assert self.check_linkage()
         outputdir = os.path.abspath(outputdir)
         if rel_mesh_pathes is None:
             rel_mesh_pathes = resources.get_default_rel_mesh_pathes()
+        if export_config is None:
+            export_config = resources.get_default_export_config()
         xml_file_in_smurf = None
         ros_pkg = False
         if ros_pkg_name is None:
@@ -1176,7 +1179,7 @@ def instantiate_submodel(self, name=None, start=None, stop=None, robotname=None,
         for joint in submodel.joints:
             if submodel.get_link(joint.origin.relative_to) is None and submodel.get_joint(joint.origin.relative_to) is None:
                 joint.origin = representation.Pose.from_matrix(self.get_transformation(end=vc.origin.relative_to, start=link), relative_to=joint.parent).dot(vc.origin)
-        submodel.export_pdf("test.pdf")
+
         submodel.link_entities()
 
         if abstract_model and len(self.submechanisms) > 0:

phobos/geometry/robot.py

@@ -68,8 +68,6 @@ def get_meshes_of_link_and_fixed_children(parent, transform=np.identity(4)):
             mesh = geometry.reduce_mesh(mesh, 1-reduce_meshes)
 
         mesh_representation = representation.Mesh(mesh=mesh, meshname="collision_"+linkname)
-        # [TODO pre_v2.0.0] Review whether the mesh export happens on export of this xml anyways
-        mesh_representation.provide_mesh_file(targetpath=outputdir, format="stl")
         link.add_aggregate("collision", representation.Collision(
             origin=representation.Pose(rpy=[0, 0, 0], xyz=[0, 0, 0], relative_to=link),
             geometry=mesh_representation,

phobos/io/representation.py

@@ -653,10 +653,9 @@ def abs_filepath(self):
         else:
             assert self._related_robot_instance is not None
             assert self._related_robot_instance.mesh_format is not None
-            assert self._related_robot_instance.mesh_format != "input_type" or self.input_type.startswith("file"), \
-                f"No input file to derive the format from! {self} {self.input_type}"
             format = self._related_robot_instance.mesh_format
             if format == "input_type":
+                assert self.input_type.startswith("file"), f"No input file to derive the format from!"
                 format = self.input_type[5:]
             if format not in self._exported:
                 raise IOError(f"The mesh {self.unique_name} with the required mesh format ({format}) has not yet been exported.")