Automate Fusion to URDF to Proto conversion

[lkunelk]

Fusion2Urdf:
https://github.com/syuntoku14/fusion2urdf

sample auto generated urdf model:
https://drive.google.com/file/d/1xBrZn4eNRbCGcd7-D4V8L0b-R16vNMsM/view?usp=sharing

simplify urdf collision:
https://github.com/bit-bots/simplify_urdf_collision

urdf2proto:
https://github.com/cyberbotics/urdf2webots

To Dos:

• Check current urdf model for errors in collision boxes
• Mech team to look for mass/inertia values discrepancies in current model vs actual model
• ensure urdf script output works in gazebo/pybullet and look at mass/inertia values
• test simplify collision script
• test proto script

After running automation script some manual steps still need to be done:

• add pressure sensor
• add imu sensor
• add camera sensor
• add motor parameters
• specify joint limits
• add jerseys
• check vetex count on the model (ensure its small for efficient simulation)

[lkunelk]

@Shah-Rajab is right that our current urdf model has issues with the right arm collision box. Also the neck collision is missing.

[sabrinalokman]

• Fusion2Urdf and urdf2proto script is working
• Collision box added with urdf2proto script
• Just need to specify joints limit and add sensors on proto file after.
• Useful for next version of robot

[Shah-Rajab]

I have outlined some of the existing issues:

[acrylic-origami]

Improved Fusion to URDF repo

For Fusion to URDF conversion use this fork of the linked fusion2urdf repo. Big features:

• Allows linked components so you no longer have to break links
• Does not change the file anymore, so you can continue working without reopening
• Claims to allow nested components (I have not tested this thoroughly)

Minor caveats (possibly of the original repo too):

• Joint and link orders are random
• You cannot suppress features in the timeline