nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Urdf rs (#745)

Browse Source 
Co-authored-by: Tin Lai <tin@tinyiu.com>
This commit is contained in:
Thierry Berger
2024-11-19 15:33:36 +01:00
committed by GitHub
parent 684f3a3054
commit ff79f4c674
3 changed files with 41 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
crates/rapier3d-urdf/CHANGELOG.md
View File

@@ -1,8 +1,13 @@
## Unreleased
### Modified
- Pre-parsing of urdf files is now done through the more recent `urdf_rs` crate.
### Added
- Add optional support for Collada and Wavefront files through new feature flags `collada` and `wavefront`.
- Add support for capsule urdf geometry
## 0.3.0

3
crates/rapier3d-urdf/Cargo.toml
View File

@@ -27,8 +27,7 @@ wavefront = ["dep:rapier3d-meshloader", "rapier3d-meshloader/wavefront"]
log = "0.4"
anyhow = "1"
bitflags = "2"
# NOTE: we are not using the (more recent) urdf-rs crate because of https://github.com/openrr/urdf-rs/issues/94
xurdf = "0.2"
urdf-rs = "0.9"
rapier3d = { version = "0.22", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.3.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

94
crates/rapier3d-urdf/src/lib.rs
View File

@@ -41,7 +41,7 @@ use rapier3d::{
};
use std::collections::HashMap;
use std::path::Path;
use xurdf::{Geometry, Inertial, Joint, Pose, Robot};
use urdf_rs::{Geometry, Inertial, Joint, Pose, Robot};
#[cfg(doc)]
use rapier3d::dynamics::Multibody;
@@ -209,33 +209,6 @@ pub struct UrdfRobotHandles<JointHandle> {
pub joints: Vec<UrdfJointHandle<JointHandle>>,
}
#[derive(Copy, Clone, PartialEq, Eq, Debug, Default)]
enum JointType {
#[default]
Fixed,
Revolute,
Continuous,
Floating,
Planar,
Prismatic,
Spherical,
}
impl JointType {
fn from_str(str: &str) -> Option<Self> {
match str {
"fixed" | "Fixed" => Some(Self::Fixed),
"continuous" | "Continuous" => Some(Self::Continuous),
"revolute" | "Revolute" => Some(Self::Revolute),
"floating" | "Floating" => Some(Self::Floating),
"planar" | "Planar" => Some(Self::Planar),
"prismatic" | "Prismatic" => Some(Self::Prismatic),
"spherical" | "Spherical" => Some(Self::Spherical),
_ => None,
}
}
}
impl UrdfRobot {
/// Parses a URDF file and returns both the rapier objects (`UrdfRobot`) and the original urdf
/// structures (`Robot`). Both structures are arranged the same way, with matching indices for each part.
@@ -261,7 +234,7 @@ impl UrdfRobot {
let mesh_dir = mesh_dir
.or_else(|| path.parent())
.unwrap_or_else(|| Path::new("./"));
let robot = xurdf::parse_urdf_from_file(&path)?;
let robot = urdf_rs::read_file(&path)?;
Ok((Self::from_robot(&robot, options, mesh_dir), robot))
}
@@ -284,7 +257,7 @@ impl UrdfRobot {
options: UrdfLoaderOptions,
mesh_dir: &Path,
) -> anyhow::Result<(Self, Robot)> {
let robot = xurdf::parse_urdf_from_string(str)?;
let robot = urdf_rs::read_from_string(str)?;
Ok((Self::from_robot(&robot, options, mesh_dir), robot))
}
@@ -313,12 +286,12 @@ impl UrdfRobot {
name_to_link_id.insert(&link.name, id);
let mut colliders = vec![];
if options.create_colliders_from_collision_shapes {
colliders.extend(link.collisions.iter().flat_map(|co| {
colliders.extend(link.collision.iter().flat_map(|co| {
urdf_to_colliders(&options, mesh_dir, &co.geometry, &co.origin)
}))
}
if options.create_colliders_from_visual_shapes {
colliders.extend(link.visuals.iter().flat_map(|vis| {
colliders.extend(link.visual.iter().flat_map(|vis| {
urdf_to_colliders(&options, mesh_dir, &vis.geometry, &vis.origin)
}))
}
@@ -331,8 +304,8 @@ impl UrdfRobot {
.joints
.iter()
.map(|joint| {
let link1 = name_to_link_id[&joint.parent];
let link2 = name_to_link_id[&joint.child];
let link1 = name_to_link_id[&joint.parent.link];
let link2 = name_to_link_id[&joint.child.link];
let pose1 = *links[link1].body.position();
let rb2 = &mut links[link2].body;
let joint = urdf_to_joint(&options, joint, &pose1, rb2);
@@ -465,6 +438,7 @@ impl UrdfRobot {
}
}
#[rustfmt::skip]
fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> RigidBody {
let origin = urdf_to_isometry(&inertial.origin);
let mut builder = options.rigid_body_blueprint.clone();
@@ -473,17 +447,12 @@ fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> Rigid
if options.apply_imported_mass_props {
builder = builder.additional_mass_properties(MassProperties::with_inertia_matrix(
origin.translation.vector.into(),
inertial.mass as Real,
inertial.mass.value as Real,
// See http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model#Inertia
na::Matrix3::new(
inertial.inertia.m11 as Real,
inertial.inertia.m12 as Real,
inertial.inertia.m13 as Real,
inertial.inertia.m21 as Real,
inertial.inertia.m22 as Real,
inertial.inertia.m23 as Real,
inertial.inertia.m31 as Real,
inertial.inertia.m32 as Real,
inertial.inertia.m33 as Real,
inertial.inertia.ixx as Real, inertial.inertia.ixy as Real, inertial.inertia.ixz as Real,
inertial.inertia.ixy as Real, inertial.inertia.iyy as Real, inertial.inertia.iyz as Real,
inertial.inertia.ixz as Real, inertial.inertia.iyz as Real,inertial.inertia.izz as Real,
),
))
}
@@ -518,13 +487,19 @@ fn urdf_to_colliders(
*radius as Real,
));
}
Geometry::Capsule { radius, length } => {
colliders.push(SharedShape::capsule_z(
*length as Real / 2.0,
*radius as Real,
));
}
Geometry::Sphere { radius } => {
colliders.push(SharedShape::ball(*radius as Real));
}
Geometry::Mesh { filename, scale } => {
let full_path = mesh_dir.join(filename);
let scale = scale
.map(|s| Vector::new(s.x as Real, s.y as Real, s.z as Real))
.map(|s| Vector::new(s[0] as Real, s[1] as Real, s[2] as Real))
.unwrap_or_else(|| Vector::<Real>::repeat(1.0));
let Ok(loaded_mesh) = rapier3d_meshloader::load_from_path(
full_path,
@@ -576,21 +551,22 @@ fn urdf_to_joint(
pose1: &Isometry<Real>,
link2: &mut RigidBody,
) -> GenericJoint {
let joint_type = JointType::from_str(&joint.joint_type).unwrap_or_default();
let locked_axes = match joint_type {
JointType::Fixed => JointAxesMask::LOCKED_FIXED_AXES,
JointType::Continuous | JointType::Revolute => JointAxesMask::LOCKED_REVOLUTE_AXES,
JointType::Floating => JointAxesMask::empty(),
JointType::Planar => JointAxesMask::ANG_AXES | JointAxesMask::LIN_X,
JointType::Prismatic => JointAxesMask::LOCKED_PRISMATIC_AXES,
JointType::Spherical => JointAxesMask::LOCKED_SPHERICAL_AXES,
let locked_axes = match joint.joint_type {
urdf_rs::JointType::Fixed => JointAxesMask::LOCKED_FIXED_AXES,
urdf_rs::JointType::Continuous | urdf_rs::JointType::Revolute => {
JointAxesMask::LOCKED_REVOLUTE_AXES
}
urdf_rs::JointType::Floating => JointAxesMask::empty(),
urdf_rs::JointType::Planar => JointAxesMask::ANG_AXES | JointAxesMask::LIN_X,
urdf_rs::JointType::Prismatic => JointAxesMask::LOCKED_PRISMATIC_AXES,
urdf_rs::JointType::Spherical => JointAxesMask::LOCKED_SPHERICAL_AXES,
};
let joint_to_parent = urdf_to_isometry(&joint.origin);
let joint_axis = na::Unit::try_new(
Vector::new(
joint.axis.x as Real,
joint.axis.y as Real,
joint.axis.z as Real,
joint.axis.xyz[0] as Real,
joint.axis.xyz[1] as Real,
joint.axis.xyz[2] as Real,
),
1.0e-5,
);
@@ -607,14 +583,14 @@ fn urdf_to_joint(
.local_axis2(joint_axis);
}
match joint_type {
JointType::Prismatic => {
match joint.joint_type {
urdf_rs::JointType::Prismatic => {
builder = builder.limits(
JointAxis::LinX,
[joint.limit.lower as Real, joint.limit.upper as Real],
)
}
JointType::Revolute => {
urdf_rs::JointType::Revolute => {
builder = builder.limits(
JointAxis::AngX,
[joint.limit.lower as Real, joint.limit.upper as Real],