Add suport for loading SDF scenes generated by blender BIM to robotics addon

Requires:

• sw/armarx/meta/axii!517 (merged)

This merge request allows to load a scene described by an SDF file (generated by the BIM to robotics blender addon), instead of using a JSON. For this, the following requirements have to be met:

1. The SDF file must use includes for each model, and each model directory contains an URDF file.
2. The SDF include paths must not lead to a location that can be resolved by SDFormat by default.

The second condition is necessary because SDFormat 6.0 apparently does not allow getting the original include paths (https://github.com/gazebosim/sdformat/blob/sdf6/src/parser.cc#L916). Therefore, the fallback mechanism when a path is not found is used to retrieve all include paths. Using a newer version of SDFormat would probably solve this, but could require some Axii modules.

The code uses SDFormat 13, which is part of the following Axii merge request: sw/armarx/meta/axii!517 (merged) This allows accessing the original paths and setting search paths for URIs on a per-SDF-file basis.

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• bdd39fed - Replace manipulation objects (from simox XML) used for SDF models with robots (from URDF)

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assigned to @uomnk_mathes

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• b00483d1 - Use simox XML as fallback

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This can be improved. Please remove include_directories and link_directories. Use their target_... counterparts instead.

Likely, there is also a CMake target (I'm just guessing, e.g. SDFormat::SDFormat). You should have a look at the SDFormat-config.cmake file or similar.

Let me know if you need help.

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Thanks for implementing this. Likely, I will move this to Simox.

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• 1853f32f - Use target variants of cmake commands

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• 1853f32f...f4e06f14 - 2 commits from branch master
• 7a2e0b3e - Merge branch 'master' into sdf
• 7febb5ad - Use newer sdformat version
• 994127e9 - No longer use the sdf file search fallback callback mechanism

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• Check whether robot can collide with articulated objects
• If not, try to decide whether a "robot" or "object" must be added for an articulated object (e.g. no joints => object)

Collision works between objects and the robot.

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• 174e20b1 - Use std::filesystem for extension checks

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mentioned in merge request sw/armarx/meta/axii!517 (merged)

marked the checklist item sw/armarx/meta/axii!517 (merged) as completed

Merging this now since the Axii MR was part of Axii release https://git.h2t.iar.kit.edu/sw/armarx/meta/axii/-/releases/23.03.2.0

approved this merge request

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merged

mentioned in commit cebb5c4c