Massive feature and bug fix dump: nested components, configuration file, attached joints, sliders, rotated origins, etc. #49

ANogin · 2025-04-29T00:18:01Z

This PR is a result of about 2 man-months worth of development, targeting an ability to export a very complex (100+ components) hierarchical model to ROS. It supersedes #47.

Here is a brief summary of what is included:

Bugfixes:
- Will do the correct thing when occurrence origins are in complicated relationship to each other, including when they are rotated with respect to each other.
- Will do the right thing with respect to picking the parent/child relationship for URDF
- Correctly does the unit conversions (knows that some things in Fusion are always in cm, regardless of units used).
Features:
- Supports complicates assembly / subassembly hierarchy
- Supports slider joints (will do the correct thing with limits, orientation, etc)
- When an URDF link is composed of multiple bodies, will export each body into a separate stl for the <vision> tag, while merging them into a single URDF for the <collision> tag. This is very important for making sure that collision checking (e.g. when using MoveIT) is fast enough.
- Can use a prepared configuration .yaml file to avoid needing to specify some of the parameters on every export:
  - Name of the robot
  - Mesh output parameters (whether to output meshes, mesh resolution, etc)
  - Target units
  - Target platform
- Additional Fusion -> URDF mapping can be specified in the same configuration file:
  - Which Fusion occurrence to map to URDF root link
  - Name mapping for links and joints
  - Link merging - can map several occurrences/subassemblies to a single URDF link. This is extremely helpful for creating a manageable URDF from a complex Fusion model with lots of pieces (remember that the export would only generate a single collision mesh for a URDF link - merging 100+ Fusion occurrences into 10 URDF links, basically merging everything connected with fixed joints / rigid groups into a single URDF link - is a huge speed up for collision checking).
  - "Extras" - specifies URDF links that should be exported as extras into a separate URDF, rather than being included in the main output URDF. We use this to create a configuration that we used as "attached components" in MoveIt, but not a part of the code robot.
- Takes the units from the Fusion properties, does not require the user to specify
Also:
- The code adds a lot of mypy type annotations, and tries to use more named tuples and less untyped dictionaries, to enable static analysis, and make it easier to keep things straight when developing.
- The code tries its best to make the order of elements in the URDF repeatable (avoid random reordering of elements, so that when a slightly tweaked model is exported, one can diff the outputs to see what changed).
- The code includes a bunch of sanity checking to ignore things like suppressed items in Fusion model, while making sure that Fusion model does not have things that the export does not know how to handle.

… a valid body

…on whenever child or parent is found

Descriptor/core/parser.py

apric0ts · 2025-04-30T13:42:33Z

I'll slowly check out the PR over the next few days, you all did amazing work!

Descriptor/core/manager.py

Descriptor/core/parser.py

ANogin · 2025-05-02T04:42:22Z

@apric0ts BTW please do not hesitate to let me know if you'd rather I do not mark comments I've addressed as "resolved" and leave them for you to double-check they are addressed to your satisfaction before resolving.

apric0ts · 2025-05-02T13:39:42Z

@ANogin No worries! I can still look at them, thank you though

apric0ts

LGTM, cc @cadop

ANogin · 2025-06-06T23:08:25Z

@apric0ts I found and fixed a few minor issues that were flagged when a colleague of mine tried to use the code on a new Fusion model.

jaredgonzales added 30 commits April 28, 2025 16:32

Remove unused imports and add utils for consistency with naming

37070df

Add utils.py with format_name

56bc5b1

Close the temporary doc after exporting

5f995ec

Add simple option to export to gazebo with ROS2

e928def

Add template ros2 package

e48fae8

Add nested components to inertia_dict

b0b2002

Go through each component to add a joint

cba8035

Add Slider joint, similar to PR cadop#44

910d50e

Add parsing for root.allJoints

6c974e1

Rename duplicate joint names

a9de558

Switch to entityTokens for joint_dict and add root occurrences

6a17c47

WIP: Moving to inertial dict for links

fcffd23

Fix children and parents for joints to not be top-level

bdf3fb2

Exporting all links and joints

0232bfd

Export each occurrence body and skip empty bodies

a88e686

Only export collision mesh if a body exists

b1f151e

Only add bodies for collision if sub_mesh enabled

b8215f1

Work directly with component_map, allows linked components

e4bf354

Add better support for linked components

011e01f

Only add inertial, visual, collision information for link when it has…

23a8fc6

… a valid body

Fix issue with slider joints not getting axis

7518eb0

Fix bug with RigidGroups not needing to be renamed. Add XYZ informati…

1673199

…on whenever child or parent is found

Do not generate a link_xml if there is no associated body

47042a9

Add robot name to URDF mesh path

a90ee03

Correct path to include full name

62571cf

Rename link and joint information for base_link

049567c

Support base_link renaming for RigidGroup joints

cc3079e

Rename stl file for base_link

78d46fc

Exit script if no grounded component for base_link

746e403

Clarify exit message for base_link not found

08f8f8d

ANogin added 7 commits April 28, 2025 16:44

Support wildcards and full path names in configuration

8b9f647

Made order of things more consistent (hopefully)

4602831

Add git rev to the .txt output

dd0b7cf

Add a sanity check

fa2f797

Small cleanup and bug fixes

51cf3c8

Preserve the order of things from one export to the next

b9a2554

Add a sample configuration file

e6c013a

apric0ts reviewed Apr 30, 2025

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