ROS2 Robot Importer cannot import the MoveIt Resouces Robot Models

[lemonade-dm]

As brought up in PR #460 switching to using libsdformat has issues importing some URDF files, that URDFDom is able to import successfully https://github.com/o3de/o3de-extras/pull/460#pullrequestreview-1595595506

Investigate problems importing panda franka and fanuc robots with SDFormat library; double-check the warnings triggered by pr2 import

[michalpelka]

Moveit2 resource panda Franka robot has no inertia tag added. Legacy URDF importer allowed it and created O3DE entities blindly. It used to work with articulation with default mass and default armature. MoveIt2 does not care for the inertia (since it is kinematic solver). With the introduction of libSDF, we have another layer of sanity check. The libSDF will try:

• reduces the number of fixed joints, and fails since it cannot reduce if no joint has inertia producing quite misleading output to the console. We are trying to create a tool that is resilient and fun to use, so we should not block users here. I am proposing to solve this by running a pre-check treating urdf as ordinary XML, searching for without subtag. Then modify in memory and add :

      <inertial>
      <origin xyz="0. 0. 0."/>
      <mass value="1."/>
      <inertia ixx="1." ixy="0." ixz="0." iyy="1." iyz="0." izz="1."/>
      </inertial>

  Of course, we need to entertain the User with number of warnings. After that robot is imported, and user can try to modify those values in o3de Editor. What are your thoughts @o3de/sig-simulation ?

[lgleim]

This issue appears to be resolved by https://github.com/o3de/o3de-extras/pull/481 @michalpelka ?

[jhanca-robotecai]

I can confirm the robots are successfully imported with the fix in #481. This issue can be closed.

[michalpelka]

@lgleim issue should be closed. Thanks, @jhanca-robotecai for this test.