473 lines
16 KiB
Rust
473 lines
16 KiB
Rust
use na::{RealField, UnitQuaternion};
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use rapier3d::{
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dynamics::{
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GenericJoint, GenericJointBuilder, ImpulseJointHandle, ImpulseJointSet, JointAxesMask,
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JointAxis, MassProperties, MultibodyJointHandle, MultibodyJointSet, RigidBody,
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RigidBodyBuilder, RigidBodyHandle, RigidBodySet, RigidBodyType,
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},
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geometry::{
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Collider, ColliderBuilder, ColliderHandle, ColliderSet, MeshConverter, SharedShape,
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TriMeshFlags,
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},
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math::{Isometry, Point, Real, Vector},
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na,
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};
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use std::collections::HashMap;
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use std::path::{Path, PathBuf};
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use xurdf::{Collision, Geometry, Inertial, Joint, Pose, Robot};
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bitflags::bitflags! {
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Copy, Clone, Debug, PartialEq, Eq, Default)]
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pub struct UrdfMultibodyOptions: u8 {
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const JOINTS_ARE_KINEMATIC = 0b0001;
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const DISABLE_SELF_CONTACTS = 0b0010;
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}
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}
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pub type LinkId = usize;
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#[derive(Clone, Debug)]
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pub struct UrdfLoaderOptions {
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pub create_colliders_from_collision_shapes: bool,
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pub create_colliders_from_visual_shapes: bool,
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pub apply_imported_mass_props: bool,
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pub enable_joint_collisions: bool,
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pub make_roots_fixed: bool,
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pub trimesh_flags: TriMeshFlags,
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pub shift: Isometry<Real>,
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pub collider_blueprint: ColliderBuilder,
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pub rigid_body_blueprint: RigidBodyBuilder,
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}
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impl Default for UrdfLoaderOptions {
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fn default() -> Self {
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Self {
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create_colliders_from_collision_shapes: true,
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create_colliders_from_visual_shapes: false,
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apply_imported_mass_props: true,
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enable_joint_collisions: false,
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make_roots_fixed: false,
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trimesh_flags: TriMeshFlags::all(),
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shift: Isometry::identity(),
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collider_blueprint: ColliderBuilder::ball(0.0).density(0.0),
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rigid_body_blueprint: RigidBodyBuilder::dynamic(),
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}
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}
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}
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/// An urdf link loaded as a rapier [`RigidBody`] and its [`Collider`]s.
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#[derive(Clone, Debug)]
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pub struct UrdfLink {
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pub body: RigidBody,
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pub colliders: Vec<Collider>,
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}
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/// An urdf joint loaded as a rapier [`GenericJoint`].
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#[derive(Clone, Debug)]
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pub struct UrdfJoint {
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/// The rapier version for the corresponding urdf joint.
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pub joint: GenericJoint,
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/// Index of the rigid-body (from the [`UrdfRobot`] array) at the first
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/// endpoint of this joint.
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pub link1: LinkId,
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/// Index of the rigid-body (from the [`UrdfRobot`] array) at the second
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/// endpoint of this joint.
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pub link2: LinkId,
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}
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/// A robot represented as a set of rapier rigid-bodies, colliders, and joints.
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#[derive(Clone, Debug)]
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pub struct UrdfRobot {
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/// The bodies and colliders loaded from the urdf file.
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///
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/// This vector matches the order of [`Robot::links`].
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pub links: Vec<UrdfLink>,
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/// The joints loaded from the urdf file.
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///
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/// This vector matches the order of [`Robot::joints`].
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pub joints: Vec<UrdfJoint>,
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}
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impl UrdfRobot {
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pub fn append_transform(&mut self, transform: &Isometry<Real>) {
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for link in &mut self.links {
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link.body
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.set_position(transform * link.body.position(), true);
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}
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}
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}
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pub struct UrdfJointHandle<JointHandle> {
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pub joint: JointHandle,
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pub link1: RigidBodyHandle,
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pub link2: RigidBodyHandle,
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}
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pub struct UrdfLinkHandle {
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pub body: RigidBodyHandle,
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pub colliders: Vec<ColliderHandle>,
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}
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pub struct UrdfRobotHandles<JointHandle> {
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pub links: Vec<UrdfLinkHandle>,
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pub joints: Vec<UrdfJointHandle<JointHandle>>,
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}
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#[derive(Copy, Clone, PartialEq, Eq, Debug, Default)]
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enum JointType {
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#[default]
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Fixed,
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Revolute,
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Continuous,
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Floating,
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Planar,
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Prismatic,
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Spherical,
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}
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impl JointType {
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fn from_str(str: &str) -> Option<Self> {
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match str.as_ref() {
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"fixed" | "Fixed" => Some(Self::Fixed),
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"continuous" | "Continuous" => Some(Self::Continuous),
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"revolute" | "Revolute" => Some(Self::Revolute),
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"floating" | "Floating" => Some(Self::Floating),
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"planar" | "Planar" => Some(Self::Planar),
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"prismatic" | "Prismatic" => Some(Self::Prismatic),
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"spherical" | "Spherical" => Some(Self::Spherical),
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_ => None,
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}
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}
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}
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impl UrdfRobot {
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pub fn from_file(
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path: impl AsRef<Path>,
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options: UrdfLoaderOptions,
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mesh_dir: Option<&Path>,
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) -> anyhow::Result<(Self, Robot)> {
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let path = path.as_ref();
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let mesh_dir = mesh_dir.or_else(|| path.parent());
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let robot = xurdf::parse_urdf_from_file(path)?;
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Ok((Self::from_robot(&robot, options, mesh_dir), robot))
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}
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pub fn from_str(
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str: &str,
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options: UrdfLoaderOptions,
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mesh_dir: Option<&Path>,
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) -> anyhow::Result<(Self, Robot)> {
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let robot = xurdf::parse_urdf_from_string(str)?;
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Ok((Self::from_robot(&robot, options, mesh_dir), robot))
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}
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pub fn from_robot(robot: &Robot, options: UrdfLoaderOptions, mesh_dir: Option<&Path>) -> Self {
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let mut name_to_link_id = HashMap::new();
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let mut link_is_root = vec![true; robot.links.len()];
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let mut links: Vec<_> = robot
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.links
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.iter()
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.enumerate()
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.map(|(id, link)| {
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name_to_link_id.insert(&link.name, id);
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let mut colliders = vec![];
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if options.create_colliders_from_collision_shapes {
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colliders.extend(link.collisions.iter().filter_map(|co| {
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urdf_to_collider(&options, mesh_dir, &co.geometry, &co.origin)
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}))
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}
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if options.create_colliders_from_visual_shapes {
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colliders.extend(link.visuals.iter().filter_map(|vis| {
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urdf_to_collider(&options, mesh_dir, &vis.geometry, &vis.origin)
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}))
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}
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let mut body = urdf_to_rigid_body(&options, &link.inertial);
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body.set_position(options.shift * body.position(), false);
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UrdfLink { body, colliders }
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})
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.collect();
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let joints: Vec<_> = robot
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.joints
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.iter()
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.map(|joint| {
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let link1 = name_to_link_id[&joint.parent];
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let link2 = name_to_link_id[&joint.child];
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let pose1 = *links[link1].body.position();
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let rb2 = &mut links[link2].body;
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let joint = urdf_to_joint(&options, joint, &pose1, rb2);
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link_is_root[link2] = false;
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UrdfJoint {
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joint,
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link1,
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link2,
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}
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})
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.collect();
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if options.make_roots_fixed {
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for (link, is_root) in links.iter_mut().zip(link_is_root.into_iter()) {
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if is_root {
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link.body.set_body_type(RigidBodyType::Fixed, false)
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}
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}
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}
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Self { links, joints }
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}
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pub fn insert_using_impulse_joints(
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self,
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rigid_body_set: &mut RigidBodySet,
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collider_set: &mut ColliderSet,
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joint_set: &mut ImpulseJointSet,
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) -> UrdfRobotHandles<ImpulseJointHandle> {
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let links: Vec<_> = self
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.links
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.into_iter()
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.map(|link| {
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let body = rigid_body_set.insert(link.body);
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let colliders = link
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.colliders
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.into_iter()
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.map(|co| collider_set.insert_with_parent(co, body, rigid_body_set))
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.collect();
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UrdfLinkHandle { body, colliders }
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})
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.collect();
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let joints: Vec<_> = self
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.joints
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.into_iter()
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.map(|joint| {
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let link1 = links[joint.link1].body;
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let link2 = links[joint.link2].body;
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let joint = joint_set.insert(link1, link2, joint.joint, false);
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UrdfJointHandle {
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joint,
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link1,
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link2,
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}
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})
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.collect();
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UrdfRobotHandles { links, joints }
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}
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pub fn insert_using_multibody_joints(
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self,
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rigid_body_set: &mut RigidBodySet,
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collider_set: &mut ColliderSet,
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joint_set: &mut MultibodyJointSet,
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multibody_options: UrdfMultibodyOptions,
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) -> UrdfRobotHandles<Option<MultibodyJointHandle>> {
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let links: Vec<_> = self
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.links
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.into_iter()
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.map(|link| {
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let body = rigid_body_set.insert(link.body);
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let colliders = link
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.colliders
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.into_iter()
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.map(|co| collider_set.insert_with_parent(co, body, rigid_body_set))
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.collect();
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UrdfLinkHandle { body, colliders }
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})
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.collect();
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let joints: Vec<_> = self
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.joints
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.into_iter()
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.map(|joint| {
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let link1 = links[joint.link1].body;
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let link2 = links[joint.link2].body;
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let joint =
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if multibody_options.contains(UrdfMultibodyOptions::JOINTS_ARE_KINEMATIC) {
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joint_set.insert_kinematic(link1, link2, joint.joint, false)
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} else {
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joint_set.insert(link1, link2, joint.joint, false)
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};
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if let Some(joint) = joint {
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let (multibody, _) = joint_set.get_mut(joint).unwrap_or_else(|| unreachable!());
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multibody.set_self_contacts_enabled(
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!multibody_options.contains(UrdfMultibodyOptions::DISABLE_SELF_CONTACTS),
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);
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}
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UrdfJointHandle {
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joint,
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link1,
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link2,
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}
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})
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.collect();
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UrdfRobotHandles { links, joints }
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}
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}
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fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> RigidBody {
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let origin = urdf_to_isometry(&inertial.origin);
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let mut builder = options.rigid_body_blueprint.clone();
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builder.body_type = RigidBodyType::Dynamic;
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if options.apply_imported_mass_props {
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builder = builder.additional_mass_properties(MassProperties::with_inertia_matrix(
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origin.translation.vector.into(),
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inertial.mass as Real,
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na::Matrix3::new(
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inertial.inertia.m11 as Real,
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inertial.inertia.m12 as Real,
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inertial.inertia.m13 as Real,
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inertial.inertia.m21 as Real,
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inertial.inertia.m22 as Real,
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inertial.inertia.m23 as Real,
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inertial.inertia.m31 as Real,
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inertial.inertia.m32 as Real,
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inertial.inertia.m33 as Real,
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),
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))
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}
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builder.build()
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}
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fn urdf_to_collider(
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options: &UrdfLoaderOptions,
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mesh_dir: Option<&Path>,
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geometry: &Geometry,
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origin: &Pose,
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) -> Option<Collider> {
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let mut builder = options.collider_blueprint.clone();
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let mut shape_transform = Isometry::identity();
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let mut shape = match &geometry {
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Geometry::Box { size } => SharedShape::cuboid(
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size[0] as Real / 2.0,
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size[1] as Real / 2.0,
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size[2] as Real / 2.0,
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),
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Geometry::Cylinder { radius, length } => {
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// This rotation will make the cylinder Z-up as per the URDF spec,
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// instead of rapier’s default Y-up.
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shape_transform = Isometry::rotation(Vector::x() * Real::frac_pi_2());
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SharedShape::cylinder(*length as Real / 2.0, *radius as Real)
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}
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Geometry::Sphere { radius } => SharedShape::ball(*radius as Real),
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Geometry::Mesh { filename, scale } => {
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let path: &Path = filename.as_ref();
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let scale = scale
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.map(|s| Vector::new(s.x as Real, s.y as Real, s.z as Real))
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.unwrap_or_else(|| Vector::<Real>::repeat(1.0));
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match path.extension().and_then(|ext| ext.to_str()) {
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#[cfg(feature = "stl")]
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Some("stl") | Some("STL") => {
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let full_path = mesh_dir.map(|dir| dir.join(filename)).unwrap_or_default();
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match rapier_stl::load_from_path(
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&full_path,
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MeshConverter::TriMeshWithFlags(options.trimesh_flags),
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scale,
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) {
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Ok(stl_shape) => {
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shape_transform = stl_shape.pose;
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stl_shape.shape
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}
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Err(e) => {
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log::error!("failed to load STL file {filename}: {e}");
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return None;
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}
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}
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}
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_ => {
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log::error!("failed to load file with unknown type {filename}");
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return None;
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}
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}
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}
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};
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builder.shape = shape;
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Some(
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builder
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.position(urdf_to_isometry(origin) * shape_transform)
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.build(),
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)
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}
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fn urdf_to_isometry(pose: &Pose) -> Isometry<Real> {
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Isometry::from_parts(
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Point::new(
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pose.xyz[0] as Real,
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pose.xyz[1] as Real,
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pose.xyz[2] as Real,
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)
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.into(),
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na::UnitQuaternion::from_euler_angles(
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pose.rpy[0] as Real,
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pose.rpy[1] as Real,
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pose.rpy[2] as Real,
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),
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)
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}
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fn urdf_to_joint(
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options: &UrdfLoaderOptions,
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joint: &Joint,
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pose1: &Isometry<Real>,
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link2: &mut RigidBody,
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) -> GenericJoint {
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let joint_type = JointType::from_str(&joint.joint_type).unwrap_or_default();
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let locked_axes = match joint_type {
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JointType::Fixed => JointAxesMask::LOCKED_FIXED_AXES,
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JointType::Continuous | JointType::Revolute => JointAxesMask::LOCKED_REVOLUTE_AXES,
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JointType::Floating => JointAxesMask::empty(),
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JointType::Planar => JointAxesMask::ANG_AXES | JointAxesMask::LIN_X,
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JointType::Prismatic => JointAxesMask::LOCKED_PRISMATIC_AXES,
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JointType::Spherical => JointAxesMask::LOCKED_SPHERICAL_AXES,
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};
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let joint_to_parent = urdf_to_isometry(&joint.origin);
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let joint_axis = na::Unit::try_new(
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Vector::new(
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joint.axis.x as Real,
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joint.axis.y as Real,
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joint.axis.z as Real,
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),
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1.0e-5,
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);
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link2.set_position(pose1 * joint_to_parent, false);
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let mut builder = GenericJointBuilder::new(locked_axes)
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.local_anchor1(joint_to_parent.translation.vector.into())
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.contacts_enabled(options.enable_joint_collisions);
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if let Some(joint_axis) = joint_axis {
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builder = builder
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.local_axis1(joint_to_parent * joint_axis)
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.local_axis2(joint_axis);
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}
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/* TODO: panics the multibody
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match joint_type {
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JointType::Prismatic => {
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builder = builder.limits(
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JointAxis::LinX,
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[joint.limit.lower as Real, joint.limit.upper as Real],
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)
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}
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JointType::Revolute => {
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builder = builder.limits(
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JointAxis::AngX,
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[joint.limit.lower as Real, joint.limit.upper as Real],
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)
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}
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_ => {}
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}
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*/
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// TODO: the following fields are currently ignored:
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// - Joint::dynamics
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// - Joint::limit.effort / limit.velocity
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// - Joint::mimic
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// - Joint::safety_controller
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builder.build()
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}
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