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Ghost Link: Adjust the zero check for inertial, Avoid errors in behavior when there is no inertia or mass #107

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Merged
andrewkaufman merged 6 commits into from
May 21, 2026
Merged

Ghost Link: Adjust the zero check for inertial, Avoid errors in behavior when there is no inertia or mass #107

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e6130db
Ghost link: Adjust the zero check for inertial
ft-lab May 19, 2026
3163d9e
Ghost link: Adjust the zero check for inertial
ft-lab May 19, 2026
e54a314
Ghost link: Updated unit test
ft-lab May 19, 2026
a77902f
Ghost link: Updated docs/concept_mapping.md
ft-lab May 20, 2026
74ea266
Ghost link: In the case of Ghost Link, the output of mass and inertia…
ft-lab May 21, 2026
783e96e
Ghost link: Updated testGhostLink.py
ft-lab May 21, 2026
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59 changes: 59 additions & 0 deletions tests/data/link_ghost_link_inertial_zero.urdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,59 @@
<?xml version="1.0"?>
<robot name="link_ghost_link_inertial_zero">
<link name="BaseLink">
<visual>
<geometry>
<box size="1.0 1.0 0.2"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="1.0 1.0 0.2"/>
</geometry>
</collision>
</link>
<link name="boxLink">
<visual>
<geometry>
<box size="0.5 0.5 0.5"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.5 0.5 0.5"/>
</geometry>
</collision>
</link>

<link name="ghost_link_zero_mass">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="ghost_link_no_inertia">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.0"/>
</inertial>
</link>

<joint name="joint1" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<parent link="BaseLink"/>
<child link="boxLink"/>
</joint>

<joint name="joint_zero_mass" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<parent link="boxLink"/>
<child link="ghost_link_zero_mass"/>
</joint>
<joint name="joint_no_inertia" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<parent link="boxLink"/>
<child link="ghost_link_no_inertia"/>
</joint>

</robot>
185 changes: 114 additions & 71 deletions tests/testGhostLink.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@
# SPDX-License-Identifier: Apache-2.0
import pathlib

from pxr import Gf, Usd, UsdPhysics
import omni.asset_validator
import usdex.core
from pxr import Gf, Tf, Usd, UsdPhysics

import urdf_usd_converter
from tests.util.ConverterTestCase import ConverterTestCase
Expand Down Expand Up @@ -205,24 +207,24 @@ def test_link_skip_ghost_link_chain(self):
self.assertTrue(base_link_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertTrue(base_link_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link has a rigid body.
# This ghost link does not have a rigid body.
ghost_link_prim = base_link_prim.GetChild("ghost_link")
self.assertTrue(ghost_link_prim.IsValid())
self.assertTrue(ghost_link_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link has a rigid body.
# This ghost link does not have a rigid body.
ghost_link_2_prim = ghost_link_prim.GetChild("ghost_link_2")
self.assertTrue(ghost_link_2_prim.IsValid())
self.assertTrue(ghost_link_2_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_2_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_2_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_2_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link has a rigid body.
# This ghost link does not have a rigid body.
ghost_link_3_prim = ghost_link_2_prim.GetChild("ghost_link_3")
self.assertTrue(ghost_link_3_prim.IsValid())
self.assertTrue(ghost_link_3_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_3_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_3_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_3_prim.HasAPI("NewtonArticulationRootAPI"))

Expand All @@ -236,7 +238,7 @@ def test_link_skip_ghost_link_chain(self):
# Check physics joint.
physics_scope_prim = default_prim.GetChild("Physics")
self.assertTrue(physics_scope_prim.IsValid())
self.assertEqual(len(physics_scope_prim.GetChildren()), 5)
self.assertEqual(len(physics_scope_prim.GetChildren()), 2)

root_joint_prim = physics_scope_prim.GetChild("root_joint")
self.assertTrue(root_joint_prim.IsValid())
Expand All @@ -250,37 +252,13 @@ def test_link_skip_ghost_link_chain(self):
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))

joint1_prim = physics_scope_prim.GetChild("joint1")
self.assertTrue(joint1_prim.IsValid())
self.assertTrue(joint1_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(joint1_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_skip_ghost_link_chain/Geometry/BaseLink"])
self.assertEqual(joint.GetBody1Rel().GetTargets(), ["/link_skip_ghost_link_chain/Geometry/BaseLink/ghost_link"])
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0.1), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertFalse(joint1_prim.IsValid())

joint2_prim = physics_scope_prim.GetChild("joint2")
self.assertTrue(joint2_prim.IsValid())
self.assertTrue(joint2_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(joint2_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_skip_ghost_link_chain/Geometry/BaseLink/ghost_link"])
self.assertEqual(joint.GetBody1Rel().GetTargets(), ["/link_skip_ghost_link_chain/Geometry/BaseLink/ghost_link/ghost_link_2"])
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0.1), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertFalse(joint2_prim.IsValid())

joint3_prim = physics_scope_prim.GetChild("joint3")
self.assertTrue(joint3_prim.IsValid())
self.assertTrue(joint3_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(joint3_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_skip_ghost_link_chain/Geometry/BaseLink/ghost_link/ghost_link_2"])
self.assertEqual(joint.GetBody1Rel().GetTargets(), ["/link_skip_ghost_link_chain/Geometry/BaseLink/ghost_link/ghost_link_2/ghost_link_3"])
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0.1), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertFalse(joint3_prim.IsValid())

joint_box_prim = physics_scope_prim.GetChild("joint_box")
self.assertTrue(joint_box_prim.IsValid())
Expand Down Expand Up @@ -384,24 +362,24 @@ def test_link_skip_ghost_link_chain_branch(self):
self.assertTrue(base_link_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertTrue(base_link_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link has a rigid body.
# This ghost link does not have a rigid body.
ghost_link_prim = base_link_prim.GetChild("ghost_link")
self.assertTrue(ghost_link_prim.IsValid())
self.assertTrue(ghost_link_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link has a rigid body.
# This ghost link does not have a rigid body.
ghost_link_2_prim = ghost_link_prim.GetChild("ghost_link_2")
self.assertTrue(ghost_link_2_prim.IsValid())
self.assertTrue(ghost_link_2_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_2_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_2_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_2_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link has a rigid body.
# This ghost link does not have a rigid body.
ghost_link_3_prim = ghost_link_2_prim.GetChild("ghost_link_3")
self.assertTrue(ghost_link_3_prim.IsValid())
self.assertTrue(ghost_link_3_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_3_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_3_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_3_prim.HasAPI("NewtonArticulationRootAPI"))

Expand Down Expand Up @@ -431,7 +409,7 @@ def test_link_skip_ghost_link_chain_branch(self):
# "ghost_link_4", and "ghost_link_5" are not created because they are fixed joints and body1 is a ghost link without a rigid body.
physics_scope_prim = default_prim.GetChild("Physics")
self.assertTrue(physics_scope_prim.IsValid())
self.assertEqual(len(physics_scope_prim.GetChildren()), 5)
self.assertEqual(len(physics_scope_prim.GetChildren()), 2)

root_joint_prim = physics_scope_prim.GetChild("root_joint")
self.assertTrue(root_joint_prim.IsValid())
Expand All @@ -444,39 +422,13 @@ def test_link_skip_ghost_link_chain_branch(self):
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))

joint1_prim = physics_scope_prim.GetChild("joint1")
self.assertTrue(joint1_prim.IsValid())
self.assertTrue(joint1_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(joint1_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_skip_ghost_link_chain_branch/Geometry/BaseLink"])
self.assertEqual(joint.GetBody1Rel().GetTargets(), ["/link_skip_ghost_link_chain_branch/Geometry/BaseLink/ghost_link"])
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0.1), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertFalse(joint1_prim.IsValid())

joint2_prim = physics_scope_prim.GetChild("joint2")
self.assertTrue(joint2_prim.IsValid())
self.assertTrue(joint2_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(joint2_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_skip_ghost_link_chain_branch/Geometry/BaseLink/ghost_link"])
self.assertEqual(joint.GetBody1Rel().GetTargets(), ["/link_skip_ghost_link_chain_branch/Geometry/BaseLink/ghost_link/ghost_link_2"])
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0.1), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertFalse(joint2_prim.IsValid())

joint3_prim = physics_scope_prim.GetChild("joint3")
self.assertTrue(joint3_prim.IsValid())
self.assertTrue(joint3_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(joint3_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_skip_ghost_link_chain_branch/Geometry/BaseLink/ghost_link/ghost_link_2"])
self.assertEqual(
joint.GetBody1Rel().GetTargets(), ["/link_skip_ghost_link_chain_branch/Geometry/BaseLink/ghost_link/ghost_link_2/ghost_link_3"]
)
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0.1), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertFalse(joint3_prim.IsValid())

joint_box_prim = physics_scope_prim.GetChild("joint_box")
self.assertTrue(joint_box_prim.IsValid())
Expand Down Expand Up @@ -600,3 +552,94 @@ def test_link_skip_ghost_link_with_mimic(self):
self.assertEqual(len(rel.GetTargets()), 1)
ref_joint = rel.GetTargets()[0]
self.assertEqual(ref_joint, "/link_skip_ghost_link_with_mimic/Physics/jointA")

def test_link_ghost_link_inertial_zero(self):
input_path = "tests/data/link_ghost_link_inertial_zero.urdf"
output_dir = self.tmpDir()

converter = urdf_usd_converter.Converter()
with usdex.test.ScopedDiagnosticChecker(
self,
[
(Tf.TF_DIAGNOSTIC_WARNING_TYPE, "zero-mass:.*"),
(Tf.TF_DIAGNOSTIC_WARNING_TYPE, "no-inertia:.*"),
],
level=usdex.core.DiagnosticsLevel.eWarning,
):
asset_path = converter.convert(input_path, output_dir)
self.assertIsNotNone(asset_path)
self.assertTrue(pathlib.Path(asset_path.path).exists())

stage: Usd.Stage = Usd.Stage.Open(asset_path.path)
self.assertIsValidUsd(
stage,
issuePredicates=[
omni.asset_validator.IssuePredicates.ContainsMessage("MassAPI can only be applied to a rigid body or collision prim"),
omni.asset_validator.IssuePredicates.ContainsMessage("If principalAxes or diagonalInertia is authored on rigid body"),
],
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)

default_prim = stage.GetDefaultPrim()
self.assertTrue(default_prim.IsValid())

geometry_scope_prim = default_prim.GetChild("Geometry")
self.assertTrue(geometry_scope_prim.IsValid())

# Check physics rigid bodies.
base_link_prim = geometry_scope_prim.GetChild("BaseLink")
self.assertTrue(base_link_prim.IsValid())
self.assertTrue(base_link_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertTrue(base_link_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertTrue(base_link_prim.HasAPI("NewtonArticulationRootAPI"))

box_link_prim = base_link_prim.GetChild("boxLink")
self.assertTrue(box_link_prim.IsValid())
self.assertTrue(box_link_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(box_link_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(box_link_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link does not have a rigid body.
ghost_link_zero_mass_prim = box_link_prim.GetChild("ghost_link_zero_mass")
self.assertTrue(ghost_link_zero_mass_prim.IsValid())
self.assertFalse(ghost_link_zero_mass_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_zero_mass_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_zero_mass_prim.HasAPI("NewtonArticulationRootAPI"))

# This ghost link does not have a rigid body.
ghost_link_no_inertia_prim = box_link_prim.GetChild("ghost_link_no_inertia")
self.assertTrue(ghost_link_no_inertia_prim.IsValid())
self.assertFalse(ghost_link_no_inertia_prim.HasAPI(UsdPhysics.RigidBodyAPI))
self.assertFalse(ghost_link_no_inertia_prim.HasAPI(UsdPhysics.ArticulationRootAPI))
self.assertFalse(ghost_link_no_inertia_prim.HasAPI("NewtonArticulationRootAPI"))

# Check physics joint.
physics_scope_prim = default_prim.GetChild("Physics")
self.assertTrue(physics_scope_prim.IsValid())

root_joint_prim = physics_scope_prim.GetChild("root_joint")
self.assertTrue(root_joint_prim.IsValid())
self.assertTrue(root_joint_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(root_joint_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_ghost_link_inertial_zero"])
self.assertEqual(joint.GetBody1Rel().GetTargets(), ["/link_ghost_link_inertial_zero/Geometry/BaseLink"])
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))

joint1_prim = physics_scope_prim.GetChild("joint1")
self.assertTrue(joint1_prim.IsValid())
self.assertTrue(joint1_prim.IsA(UsdPhysics.FixedJoint))
joint = UsdPhysics.FixedJoint(joint1_prim)
self.assertEqual(joint.GetBody0Rel().GetTargets(), ["/link_ghost_link_inertial_zero/Geometry/BaseLink"])
self.assertEqual(joint.GetBody1Rel().GetTargets(), ["/link_ghost_link_inertial_zero/Geometry/BaseLink/boxLink"])
self.assertTrue(Gf.IsClose(joint.GetLocalPos0Attr().Get(), Gf.Vec3f(0, 0, 0.1), 1e-6))
self.assertTrue(Gf.IsClose(joint.GetLocalPos1Attr().Get(), Gf.Vec3f(0, 0, 0), 1e-6))
self.assertRotationsAlmostEqual(joint.GetLocalRot0Attr().Get(), Gf.Quatf(1, 0, 0, 0))
self.assertRotationsAlmostEqual(joint.GetLocalRot1Attr().Get(), Gf.Quatf(1, 0, 0, 0))

joint_zero_mass_prim = physics_scope_prim.GetChild("joint_zero_mass")
self.assertFalse(joint_zero_mass_prim.IsValid())

joint_no_inertia_prim = physics_scope_prim.GetChild("joint_no_inertia")
self.assertFalse(joint_no_inertia_prim.IsValid())
5 changes: 5 additions & 0 deletions urdf_usd_converter/_impl/convert.py
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Expand Up @@ -95,6 +95,7 @@ def convert(self, input_file: str, output_dir: str) -> Sdf.AssetPath:
material_data_list=[],
mesh_material_references={},
undefined_elements=parser.get_undefined_elements(),
warnings={},
)

# setup the main output layer (which will become an asset interface later)
Expand Down Expand Up @@ -155,6 +156,10 @@ def convert(self, input_file: str, output_dir: str) -> Sdf.AssetPath:
# create the asset interface
usdex.core.addAssetInterface(asset_stage, source=data.content[Tokens.Contents])

# Print warnings.
for warning_type, message in data.warnings.items():
Tf.Warn(f"{warning_type}: {message}")

# optionally flatten the asset
if not self.params.layer_structure:
asset_identifier = export_flattened(asset_stage, output_dir, asset_dir, asset_stem, asset_format, self.params.comment)
Expand Down
1 change: 1 addition & 0 deletions urdf_usd_converter/_impl/data.py
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Expand Up @@ -42,3 +42,4 @@ class ConversionData:
material_data_list: list[MaterialData] # Store all material parameters.
mesh_material_references: dict[pathlib.Path, dict[str, list[str]]] # [mesh_file_path, [mesh_safe_name, material_name_list]]
undefined_elements: list[UndefinedData] # Store all undefined elements.
warnings: list[str, str] # Store all warnings. [warning_type, warning_message]
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