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fix(robotics): enable collider for mesh-bearing URDF collision links #5

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fix(robotics): enable collider for mesh-bearing URDF collision links #5

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3 changes: 3 additions & 0 deletions superdex_robotics/src/utils/urdf_import_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -481,6 +481,9 @@ void PopulateFromParsedModel(
ParsedMesh const& mesh = *parsedLink.collision;
if (auto const resolved = ResolveMeshPath(mesh.filename, meshBasePath)) {
link->shapeFile = DynamicString{*resolved};
// Enable the collider for mesh-bearing links: ColliderType::None is
// the prefab default, which leaves the robot contactless.
link->colliderType = ColliderType::Auto;
}
if (meshRefs != nullptr) {
meshRefs->links[iLink].collision = DynamicString{mesh.filename};
Expand Down
67 changes: 67 additions & 0 deletions superdex_robotics/test/urdf_mesh_resolution_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,37 @@ class UrdfMeshResolutionTest : public testing::Test {
)";
}

// Same, but the mesh is the <collision> geometry instead of <visual>.
static std::string SingleMeshCollisionUrdf(std::string_view packageMeshUri) {
return std::string(R"(<?xml version="1.0"?>
<robot name="test_robot">
<link name="base_link">
<collision>
<geometry>
<mesh filename=")") +
std::string(packageMeshUri) + R"("/>
</geometry>
</collision>
</link>
</robot>
)";
}

// Primitive-only collision geometry (no mesh).
static std::string SinglePrimitiveCollisionUrdf() {
return std::string(R"(<?xml version="1.0"?>
<robot name="test_robot">
<link name="base_link">
<collision>
<geometry>
<cylinder length="0.1" radius="0.02"/>
</geometry>
</collision>
</link>
</robot>
)");
}

mochi::TempDirCleanup _tempDirCleanup =
mochi::CreateTempDirectory("urdf_mesh_resolution_test", ExpectOK{});
fs::path _tempDir = _tempDirCleanup.Path();
Expand Down Expand Up @@ -164,3 +195,39 @@ TEST_F(UrdfMeshResolutionTest, UnresolvableMeshPreservesRawReference) {
std::string(meshRefs.links[0].visual.c_str()), "package://ur_description/meshes/base.dae");
EXPECT_TRUE(meshRefs.links[0].collision.empty());
}

// A mesh-bearing <collision> must enable the collider: ColliderType::None is the
// prefab default, which left imported robots contactless (contact queries and
// contact forces unavailable).
TEST_F(UrdfMeshResolutionTest, MeshCollisionEnablesColliderType) {
auto const packageDir = _tempDir / "ur_description";
auto const urdfPath = packageDir / "urdf" / "robot.urdf";
auto const meshPath = packageDir / "meshes" / "base.dae";

WriteFileText(meshPath, "dummy");
WriteFileText(
urdfPath, SingleMeshCollisionUrdf("package://ur_description/meshes/base.dae"));

BotPrefab const prefab = LoadBotPrefabFromUrdfFile(urdfPath.string(), ExpectOK{});

ASSERT_FALSE(prefab.links.empty());
EXPECT_FALSE(prefab.links[0].shapeFile.empty());
EXPECT_EQ(static_cast<int>(prefab.links[0].colliderType),
static_cast<int>(ColliderType::Auto));
}

// Primitive-only <collision> geometry keeps the prefab default: the field is not
// touched and the bot stays contactless.
TEST_F(UrdfMeshResolutionTest, PrimitiveCollisionKeepsDefaultColliderType) {
auto const packageDir = _tempDir / "some_other_dir";
auto const urdfPath = packageDir / "urdf" / "robot.urdf";

WriteFileText(urdfPath, SinglePrimitiveCollisionUrdf());

BotPrefab const prefab = LoadBotPrefabFromUrdfFile(urdfPath.string(), ExpectOK{});

ASSERT_FALSE(prefab.links.empty());
EXPECT_TRUE(prefab.links[0].shapeFile.empty());
EXPECT_EQ(static_cast<int>(prefab.links[0].colliderType),
static_cast<int>(ColliderType::None));
}