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micahpearlmanmicahpearlman
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export urdf documentation
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‎Documentation~/images/export_urdf.png‎

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‎Documentation~/images/select_simple_robot_arm.png‎

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‎README.md‎

Lines changed: 16 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@
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- [Using RViz for Turtlebot](#using-rviz-for-turtlebot)
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- [Running Universal Robot UR10 Arm Test Scene with MoveIt!](#running-universal-robot-ur10-arm-test-scene-with-moveit)
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- [Running Image Segmentation Test](#running-image-segmentation-test)
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- [Export URDF](#export-urdf)
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ZeroSim is a robotics simulation engine built on the easy to use [Unity 3D](https://unity.com/) development platform and the power of the [Robotics Operating System (ROS)](https://www.ros.org/). ZeroSim is designed for ease of use and rapid development of all sorts of robotics and simulation -- from warehouses and industrial settings, to farming and outdoors -- from robotic arms to ground and drone based mobile robots.
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@@ -55,9 +56,11 @@ ZeroSim provides a multitude of tools for building robots and environments in Un
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* Machine Learning tools:
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* Image Segmentation for training semantic segmentation algorithms.
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* URDF Export
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* **COMING SOON:**
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* More complete documentation.
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* URDF import & export.
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* URDF import.
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* Finish Docker integration with Unity. (Currently incomplete)
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* Secure communications via WebSockets.
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* Support for other Physics engines such as Bullet or Havok.
@@ -186,3 +189,15 @@ roslaunch zero_sim_ros basic_unity_editor.launch
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7. In the VNC window press the *LEFT* mouse button and select "Terminal". ![noVNC Terminal](Documentation~/images/novnc_terminal.png)
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8. In the new terminal run `rqt_image_view /image/segmentation_image`.
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9. Open up a second terminal and run `rqt_image_view /image/image_raw` ![RQT Image View Segmentation](Documentation~/images/rqt_image_view_segmentation.png)
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### Export URDF
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1. Make sure that the ZeroSim samples are installed as outlined above.
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2. Open scene the `URDF_test.scene` in the ZeroSim samples.
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3. Select `SimpleRobotArm` in the scene hierarchy.
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![Select Simple Robot Arm](Documentation~/images/select_simple_robot_arm.png)
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4. Select `Export URDF` in the root properties view. ![Export URDF](Documentation~/images/export_urdf.png)
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5. Select the directory to export to.
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6. An excellent online URDF viewer is available: https://gkjohnson.github.io/urdf-loaders/javascript/example/index.html Just drag and drop the files exported above.
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‎Runtime/Scripts/Util/ImportExport/ZOExportOBJ.cs‎

Lines changed: 63 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -43,8 +43,49 @@ protected void End() {
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_startIndex = 0;
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}
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protected string MeshToString(Mesh mesh, ZOExportOBJ.Orientation orientation) {
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protected string MeshToString(MeshFilter meshFilter, Transform transform, bool applyLocalTransform, ZOExportOBJ.Orientation orientation) {
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int numVertices = 0;
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StringBuilder sb = new StringBuilder();
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foreach (Vector3 vv in mesh.vertices) {
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Vector3 v = vv;
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numVertices++;
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if (orientation == Orientation.Unity) {
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sb.AppendLine($"v {v.x} {v.y} {v.z}");
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} else if (orientation == Orientation.URDF) {
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sb.AppendLine($"v {v.z} {v.x} {v.y}");
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}
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}
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sb.AppendLine();
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foreach (Vector3 nn in mesh.normals) {
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Vector3 v = nn;
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if (orientation == Orientation.Unity) {
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sb.AppendLine($"vn {v.x} {v.y} {v.z}");
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} else if (orientation == Orientation.URDF) {
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sb.AppendLine($"vn {v.z} {v.x} {v.y}");
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}
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}
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for (int submesh = 0; submesh < mesh.subMeshCount; submesh++) {
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int[] triangles = mesh.GetTriangles(submesh);
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for (int i = 0; i < triangles.Length; i += 3) {
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sb.AppendLine(string.Format("f {0}//{0} {1}//{1} {2}//{2}", // only exporting position and normal, no UV
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triangles[i] + 1 + _startIndex,
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triangles[i + 1] + 1 + _startIndex,
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triangles[i + 2] + 1 + _startIndex));
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}
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}
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_startIndex += numVertices;
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return sb.ToString();
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}
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protected string MeshFilterToString(MeshFilter meshFilter, Transform transform, bool applyLocalTransform, ZOExportOBJ.Orientation orientation) {
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Vector3 s = transform.localScale;
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Vector3 p = transform.localPosition;
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Quaternion r = transform.localRotation;
@@ -141,7 +182,7 @@ protected string ProcessTransform(Transform transform, bool makeSubmeshes, bool
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MeshFilter meshFilter = transform.GetComponent<MeshFilter>();
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if (meshFilter != null) {
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meshString.Append(MeshToString(meshFilter, transform, applyLocalTransform, orientation));
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meshString.Append(MeshFilterToString(meshFilter, transform, applyLocalTransform, orientation));
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}
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for (int i = 0; i < transform.childCount; i++) {
@@ -265,6 +306,26 @@ public void ExportToDirectory(GameObject gameObject, string directoryPath, bool
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}
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}
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public void ExportMesh(Mesh mesh, string meshPath, ZOExportOBJ.Orientation orientation) {
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Start();
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StringBuilder meshString = new StringBuilder();
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meshString.Append("#" + Path.GetFileName(meshPath)
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+ "\n#" + System.DateTime.Now.ToLongDateString()
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+ "\n#" + System.DateTime.Now.ToLongTimeString()
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+ "\n#-------"
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+ "\n\n");
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meshString.Append(MeshToString(mesh, orientation));
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OBJString = meshString.ToString();
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using (StreamWriter sw = new StreamWriter(meshPath)) {
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sw.Write(OBJString);
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}
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}
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}
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}

‎Runtime/Scripts/Util/ImportExport/ZOExportURDF.cs‎

Lines changed: 30 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -57,8 +57,8 @@ public List<Transform> VisualMeshesToExport {
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get { return _visualMeshesToExport; }
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}
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private List<Transform> _collisionMeshesToExport = new List<Transform>();
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public List<Transform> CollisionMeshesToExport {
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private List<Mesh> _collisionMeshesToExport = new List<Mesh>();
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public List<Mesh> CollisionMeshesToExport {
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get { return _collisionMeshesToExport; }
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}
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@@ -75,9 +75,10 @@ public static void ExportToDirectory(ZOSimDocumentRoot documentRoot, string dire
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exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, false, ZOExportOBJ.Orientation.URDF);
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}
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foreach (Transform meshTransform in exportURDF.CollisionMeshesToExport) {
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foreach (Mesh mesh in exportURDF.CollisionMeshesToExport) {
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ZOExportOBJ exportOBJ = new ZOExportOBJ();
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exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, false, ZOExportOBJ.Orientation.URDF);
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string collisionMeshFilePath = Path.Combine(directoryPath, $"{mesh.name}_collider.obj");
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exportOBJ.ExportMesh(mesh, collisionMeshFilePath, ZOExportOBJ.Orientation.URDF);
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}
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Debug.Log($"INFO: ZOExportURDF Saved URDF: {urdfFilePath}");
@@ -322,8 +323,33 @@ protected void BuildURDFCollisions(Transform collisionTransform, XElement link,
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sphereCollider.center.z * sphereCollider.transform.localScale.z);
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} else if (collider.GetType() == typeof(CapsuleCollider)) {
327+
CapsuleCollider capsuleCollider = collider as CapsuleCollider;
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XElement cylinder = new XElement("cylinder");
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float radius = capsuleCollider.radius * collider.transform.localScale.x;
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float height = capsuleCollider.height * collider.transform.localScale.y;
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cylinder.SetAttributeValue("radius", radius);
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cylinder.SetAttributeValue("length", height);
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geometry.Add(cylinder);
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center = new Vector3(capsuleCollider.center.x * capsuleCollider.transform.localScale.x,
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capsuleCollider.center.y * capsuleCollider.transform.localScale.y,
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capsuleCollider.center.z * capsuleCollider.transform.localScale.z);
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} else if (collider.GetType() == typeof(MeshCollider)) {
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MeshCollider meshCollider = collider as MeshCollider;
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_collisionMeshesToExport.Add(meshCollider.sharedMesh);
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XElement mesh = new XElement("mesh");
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mesh.SetAttributeValue("filename", $"{meshCollider.sharedMesh.name}_collider.obj");
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Vector3 scale = collisionTransform.localScale;
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mesh.SetAttributeValue("scale", scale.ToXMLString());
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geometry.Add(mesh);
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}
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if (geometry.HasElements) {
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// build origin
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Vector3 position = collisionTransform.localPosition + anchorOffset + center;

‎Samples~/ZeroSimSamples/Scenes/URDF_test.unity‎

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m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
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m_LocalPosition: {x: 0, y: 0, z: 0}
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m_LocalScale: {x: 1, y: 1, z: 1}
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m_Children: []
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m_Father: {fileID: 290498957}
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m_RootOrder: 1
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m_Father: {fileID: 2050636604}
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m_RootOrder: 0
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m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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m_Mesh: {fileID: 8022488761877085130, guid: 17be92f99b8fb14eaa65adc226ac3fd4, type: 3}
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m_Mesh: {fileID: -3111557506051347654, guid: 17be92f99b8fb14eaa65adc226ac3fd4, type: 3}
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