slider joint bug fixed #44
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jaredgonzales
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ANogin
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…le, attached joints, sliders, rotated origins, etc. (#49) * Remove unused imports and add utils for consistency with naming * Add utils.py with format_name * Close the temporary doc after exporting * Add simple option to export to gazebo with ROS2 * Add template ros2 package * Add nested components to inertia_dict * Go through each component to add a joint * Add Slider joint, similar to PR #44 * Add parsing for root.allJoints * Rename duplicate joint names * Switch to entityTokens for joint_dict and add root occurrences * WIP: Moving to inertial dict for links * Fix children and parents for joints to not be top-level * Exporting all links and joints * Export each occurrence body and skip empty bodies * Only export collision mesh if a body exists * Only add bodies for collision if sub_mesh enabled * Work directly with component_map, allows linked components * Add better support for linked components * Only add inertial, visual, collision information for link when it has a valid body * Fix issue with slider joints not getting axis * Fix bug with RigidGroups not needing to be renamed. Add XYZ information whenever child or parent is found * Do not generate a link_xml if there is no associated body * Add robot name to URDF mesh path * Correct path to include full name * Rename link and joint information for base_link * Support base_link renaming for RigidGroup joints * Rename stl file for base_link * Exit script if no grounded component for base_link * Clarify exit message for base_link not found * Fix bug with RigidGroups using wrong variable for parent/child occurrences * Swap parents and children to get the parents closer to base_link * Swap the {child,parent}_token when child is swapped with parent, per Jared * Check that joint has valid occurrences before interacting with it * Add importing appearances * Add material xacro * Rename URDF file to .xacro to highlight new file capabilities * Finish changing to .xacro file and add dummy link * Complete using rviz * WIP: Add Gazebo support but does not have entity xml working * Remove unused file * Add the robot to the gazebo model path automatically on launch * Add initial moveit package as copy of gazebo * Initial moveit launch file without other config files * Do not export hidden components * Export rviz launch file with Gazebo too * Attempt to get coordinate transforms correct * Finish coordinate transform fix Do not try to rename a joint in Fusion, only do it for Python dict * Ignore suppressed, rolled back and incomplete joints Also adds a bunch of type annotations and other minor fixes * Support rotations (untested) and add more type annotations * Use `shutil.copytree` instead of deprecated `distutils.dir_util.copy_tree` * Automatically install numpy * Bugfix: use correct Point3D/Matrix3D constructors * Simplify the code a bit * WiP debugging the coordinate transforms * Add some experiments to try * Fix some of the coordinate transform errors * Set document limits based on the document properties, not user input * Correctly use cm for slider joint limits regardless of document units * Do the correct coordinate transform for joint axes * Attempting to deal with local assemblies, but something is wrong * Try the `getMatrixFromRoot` approach to dealing with assembly contexts * Add an extra hack to correctly install dependencies in more situations * Include a customized `setup_assistant.launch.py` for MoveIt * Ask for preferred robot name on the UI (untested) * Minor cleanup (untested) * Made sure the mesh file names are correct * Continue catching invalid deleted joints * Do not ask the user about the joint order; do not break links Breaking links was causing things to have wrong locations because of an apparent Fusion bug!!! * Correctly transform the joint axis - WiP * Coordinate transforms are in cm, not design units; add a lot more debugs * Despite the documentation, `.transform2` is in global frame, not w.r.t local assembly origin... * Add support for a name mapping json * Use OrderedDict to make the materials order consistent from run to run * Ignore broken rigid groups * Move all joints to 0 at the beginning of the export * Add some further sanity checking * Minor changes * Do not insist on having joint origins coincide * No need to name the grounded link as "base_link" given "dummy_link" exists * Provide more information when the structure is broken * Use xml.etree.ElementTree to format the URDF files * Do not ignore the mesh resulution setting. Simplify code * Support a Yaml configuration file. * Start with the "Preview" tab unexpanded; expand when it is filled in. * Update the `README.md` * Clean up how the bodies/meshes are collected * Make sure the temporary design is deleted on error * Do not create a separate vision stl when there is only one body * Implement support for merging multiple Fusion components into a single URDF link * Joint axis in URDF is supposed to be in child frame, not parent * Remove old debug code * Improve sanity checking code * Flip the joint axis when joint parent/child are swapped * Round the numbers a bit * Support naming the whole assembly in config file's MergeLinks * Make an extra check to not duplicate bodies * Use correct merged link name when it is the base link * Support a more complex MergeLinks structure; support Extra links and Locanions generation * Tweak the code to work more reliably * Add an extra sanity check * Support "Extras" links that are not connected to the rest of the system * Allow using a MergedLink for subframe locations * Update to allow specifying the root node of URDF in the config file * bug fix * Support wildcards and full path names in configuration * Made order of things more consistent (hopefully) * Add git rev to the .txt output * Add a sanity check * Small cleanup and bug fixes * Preserve the order of things from one export to the next * Add a sample configuration file * Delete unused Hierarchy.parent * Move `*_to_str` functions to utils * Remove unnecessary iterations * Delete obsolete commented code. * Make the code a little more robust * Print more detailed error message when joints are in a weird state --------- Co-authored-by: jared <jared@redballoonsecurity.com> Co-authored-by: Jake Jepson <55201008+Jepson2k@users.noreply.github.com>
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I think we missed the slider joint because it does not belong to the demo scenes.
#43
I found the proper property name for the slider joint.
It works for me with a mixed joint structure.