jrl-umi3218 / mc_rbdyn_urdf

A ROS-free URDF parser to create RBDyn structures

mc_rbdyn_urdf

This library allows to parse an URDF file and create RBDyn structure from it. It is entirely ROS-free.

Note: this package is deprecated, URDF parsing is now available directly in RBDyn

Installing

Ubuntu LTS (16.04, 18.04, 20.04)

You must first setup our package mirror:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash

You can also choose the head mirror which will have the latest version of this package:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash

You can then install the package:

sudo apt install libmc-rbdyn-urdf-dev python-mc-rbdyn-urdf python3-mc-rbdyn-urdf

Manually build from source

Dependencies

• tinyxml2
• Eigen (>= 3.0)
• SpaceVecAlg (with Python bindings if needed)
• RBDyn (with Python bindings if needed)
• Cython (>= 0.2) (Python bindings)
• Eigen3ToPython (Python bindings)
• Boost (unit tests)

Building

git clone --recursive https://github.com/jrl-umi3218/mc_rbdyn_urdf
cd mc_rbydn_urdf
mkdir _build
cd _build
cmake [options] ..
make && make intall

CMake options

By default, the build will use the python and pip command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:

• PYTHON_BINDING Build the python binding (ON/OFF, default: ON)
• PYTHON_BINDING_FORCE_PYTHON2: use python2 and pip2 instead of python and pip
• PYTHON_BINDING_FORCE_PYTHON3: use python3 and pip3 instead of python and pip
• PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON2: builds two sets of bindings one with python2 and pip2, the other with python3 and pip3
• BUILD_TESTING Enable unit tests building (ON/OFF, default: ON)

mc_rbdyn_urdf's Issues

[Security] Potential Secret Leak

It has been noticed that while using jrl-umi3218/github-actions/build-package@master your other-gpg-keys 0x892EA6EE273707C6495A6FB6220D644C64666806 is present in plaintext. Please ensure that secrets are encrypted or not passed as plain text in github workflows.

Wrong link taken as the free-flyer

In the case of the urdf file for HRP-5P, the base link (body) is not the first link declared within the file, and even though the structure is correctly defined, the loader takes the first link in that file (RLeg_Link0) as the free flyer.

Hardening of mc_rbdyn_urdf

I am not sure of how much this is an issue, but it is very easy to crash mc_rbdyn_urdf on invalid URDF input. A quick run of afl-fuzz found 19 unique crashes, and upon quick investigation it seems that most of them derive from not properly checking return values of tinyxml2.

Sadly, correcting those would probably introduce quite a lot of ugliness in the code... I really wish tinyxml did not go the way of returning nullptr which makes it impossible to safely perform things like:

std::string parent_link = joint->FirstChildElement("parent")->Attribute("link");

Wrong link in installation instruction

Hello Dr.Caron

I think there is a small mistake in the links for installing the package.
The correct link/command is:
git clone --recursive https://github.com/jrl-umi3218/mc_rbdyn_urdf

But it has been written as:
git clone --recursive https://github.com/jrl-umi3218/RBDyn

Thank You

python binding fix needed

@gergondet jrl-umi3218/SpaceVecAlg#16 applies here jrl-umi3218/SpaceVecAlg#16

cmake folder out of date

The cmake folder on this repository is out of date. We tried updating it according to the wiki instructions and adding the lines that generate the packageConfig.cmake as done in tasks/rbdyn/etc, but it didn't seem to work, only generating 2 of the 3 required files.

@Chunting is trying to create a pull request now containing our current attempt.

mimic joint error on master

I tried compiling this on master and got the following error, it seems like the call isn't synced with a change in one of the dependencies, I see such a function was added to RBDyn at jrl-umi3218/RBDyn#23:

[ 20%] Building CXX object src/CMakeFiles/mc_rbdyn_urdf.dir/urdf.cpp.o
cd /home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/build/src && /usr/bin/c++   -DMCRBDYNURDF_BUILDING -Dmc_rbdyn_urdf_EXPORTS -I/home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/build -I/home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/build/include -I/home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/include -isystem /usr/include/eigen3 -isystem /usr/local/include  -Werror  -pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion  -Wall -Wextra -std=c++0x -pedantic -fPIC   -o CMakeFiles/mc_rbdyn_urdf.dir/urdf.cpp.o -c /home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/src/urdf.cpp
/home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/src/urdf.cpp: In function ‘std::__cxx11::string mc_rbdyn_urdf::parseMultiBodyGraphFromURDF(mc_rbdyn_urdf::URDFParserResult&, const string&, const std::vector<std::__cxx11::basic_string<char> >&, bool, const string&, bool, std::__cxx11::string)’:
/home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/src/urdf.cpp:327:9: error: ‘class rbd::Joint’ has no member named ‘makeMimic’
       j.makeMimic(mimicJoint, multiplier, offset);
         ^
src/CMakeFiles/mc_rbdyn_urdf.dir/build.make:65: recipe for target 'src/CMakeFiles/mc_rbdyn_urdf.dir/urdf.cpp.o' failed
make[2]: *** [src/CMakeFiles/mc_rbdyn_urdf.dir/urdf.cpp.o] Error 1
make[2]: Leaving directory '/home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/build'
CMakeFiles/Makefile2:504: recipe for target 'src/CMakeFiles/mc_rbdyn_urdf.dir/all' failed
make[1]: *** [src/CMakeFiles/mc_rbdyn_urdf.dir/all] Error 2
make[1]: Leaving directory '/home/ahundt/src/jrl-umi3218/mc_rbdyn_urdf/build'
Makefile:141: recipe for target 'all' failed
make: *** [all] Error 2