Urdf import, export and workcell editor fixes

luca-della-vedova commented 1 year ago

New feature implementation

Implemented feature

Based on #155 by @audrow, extends urdf export to also export joint and inertial data, as well as add a urdf import feature to convert URDF into a Workcell object. Having both allows adding an integration test that performs a roundtrip conversion in rmf_site_format and makes sure that the files match. I am also refining various parts of the workcell editor mode and fix issues I found along the way. Will change it to in review and add a more detailed description of the changes once it's ready.

Implementation description

Removed rapier dependency, it was meant to be used for physics simulation but it was effectively never used, we can reintroduce it when needed. Saves us some compile time and runtime overhead.
Fix mesh primitives that were not selectable.
Add a system that "explodes" SDFs imported in the workcell editor mode to unpack all the visuals and collisions contained in them.
Fix parenthood of models that was not set properly.
Add joint components / data to the Workcell structure, including conversion back and forth from urdf.
Add a basic joint inspection widget, as well as a button to create a joint when two frames are connected directly in the hierarchy without a joint inbetween.
Update the mesh primitive inspector widget to only have read-only labels, until we implement systems to update primitives based on sizes / type.
Add a keybinding (Ctrl-E) to export to URDF. For the moment I didn't add a menu button since that would have needed adding a state dependent logic to the top menu bar.
Add inertial data to the Workcell format, including saving and loading to a site. No inspector is implemented yet though.
Added a temporary workaround system that replaces NameInSite components for NameInWorkcell if the spawned object is a child of a Workcell. This will probably be removed in the future by having a NameInGroup component that unifies the two.
Add support for opening urdf files through the Open File window.

luca-della-vedova commented 1 year ago

Setting this to ready for review. There are likely new issues to come up with further testing for the workcell editor mode but keeping adding them here might make the PR grow to an even more unmanageable size.

luca-della-vedova commented 1 year ago

I recommend changing the name of MeshPrimitive to PrimitiveShape

https://github.com/open-rmf/rmf_site/pull/177/commits/b57b53f85a73f41cee25763e4bad2e58aaf45152

Why does Geometry::Mesh use filename: String instead of source: AssetSource?

Good point, I think it was just to make conversion to urdf simpler but on second thought it really doesn't make a lot of sense. Fixed https://github.com/open-rmf/rmf_site/pull/177/commits/bff825832eb143e56abd916135aebd38f73311e7

I also found the issue with broken dependent references and fixed it in https://github.com/open-rmf/rmf_site/pull/177/commits/769d485036d0a19698d6e198aa572cc5f3312620.

There is still non-optimal behavior when flattening SDFs since all the models are assigned to the same parent. This issue actually originates from the sdf loading code since all visuals / collisions are assigned to the root element so there is no real hierarchy parsing there. I suspect we never bumped into this issue so far because all the SDFs we used have always been very simple with no complex hierarchies but this will probably become an issue once we start importing (for example) complex SDF workcells. My plan was to exploit the fact that Urdf is pretty much a subset of Sdf and unify the code for parsing of both, but I never got around to do it.

audrow commented 1 year ago

Hey, I'm getting one of the two errors when I'm trying to open a workcell with a mesh. I'm using the same workcell that I was using when developing the export URDF function.

2023-09-21T13:03:21.418787Z  INFO librmf_site_editor::workspace: Opening workcell file
2023-09-21T13:03:21.419368Z ERROR librmf_site_editor::workspace: Failed loading workcell Error("missing field `source`", line: 101, column: 5)

or

2023-09-21T12:57:54.856592Z  INFO librmf_site_editor::workspace: Opening workcell file
2023-09-21T12:57:54.857053Z ERROR librmf_site_editor::workspace: Failed loading workcell Error("no variant of enum Anchor found in flattened data", line: 70, column: 5)

Also, I still don't see the "Export URDF" button in the "File" menu.

luca-della-vedova commented 1 year ago

Sorry forgot to reply to this!

Hey, I'm getting one of the two errors when I'm trying to open a workcell with a mesh. I'm using the same workcell that I was using when developing the export URDF function.

2023-09-21T13:03:21.418787Z  INFO librmf_site_editor::workspace: Opening workcell file
2023-09-21T13:03:21.419368Z ERROR librmf_site_editor::workspace: Failed loading workcell Error("missing field `source`", line: 101, column: 5)

or

2023-09-21T12:57:54.856592Z  INFO librmf_site_editor::workspace: Opening workcell file
2023-09-21T12:57:54.857053Z ERROR librmf_site_editor::workspace: Failed loading workcell Error("no variant of enum Anchor found in flattened data", line: 70, column: 5)

The file format changed, among other things the mesh filename changed from a String to an AssetSource and MeshConstraint is gone for normal anchors, which might cause the errors above. Sadly the only way to fix that right now is to recreate a project.

Also, I still don't see the "Export URDF" button in the "File" menu.

True, I still need to do the refactor to only show some buttons in some states, didn't do it yet to avoid making this PR even more complex than it already is since that would touch the code in many areas that are not really workcell specific

audrow commented 1 year ago

Okay, let me know if I can help with this.

luca-della-vedova commented 9 months ago

There are a few rough edges here and there but this is "stable enough" that it should be pretty much OK.

open-rmf / rmf_site