Fix up loading map files into SCS2

scs2-definition/src/main/java/us/ihmc/scs2/definition/robot/sdf/SDFTools.java

@@ -6,6 +6,7 @@
 import java.net.URISyntaxException;
 import java.net.URLClassLoader;
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.Collection;
 import java.util.Collections;
 import java.util.HashSet;
@@ -262,6 +263,31 @@ public static String tryToConvertToPath(String filename, Collection<String> reso
                return tryToConvertToPath(filename, resourceDirectories, resourceClassLoader);
             }
          }
+
+         // Last resort: the on-disk resource layout may not mirror the package structure declared in the URI
+         // (e.g. a flattened asset bundle). Progressively strip leading path segments and look for the
+         // remaining suffix under each resource directory, preferring the longest (most specific) match.
+         String[] pathSegments = Arrays.stream(uri.getPath().split("/")).filter(segment -> !segment.isEmpty()).toArray(String[]::new);
+
+         for (int start = 0; start < pathSegments.length; start++)
+         {
+            String suffix = String.join(File.separator, Arrays.copyOfRange(pathSegments, start, pathSegments.length));
+
+            for (String resourceDirectory : resourceDirectories)
+            {
+               String fullname = resourceDirectory + File.separator + suffix;
+               // Path relative to class root
+               if (resourceClassLoader.getResource(fullname) != null)
+               {
+                  return fullname;
+               }
+               // Absolute path
+               if (new File(fullname).exists())
+               {
+                  return fullname;
+               }
+            }
+         }
       }
       catch (URISyntaxException e)
       {

scs2-definition/src/test/java/us/ihmc/scs2/definition/robot/sdf/SDFToolsTest.java

@@ -0,0 +1,73 @@
+package us.ihmc.scs2.definition.robot.sdf;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNull;
+
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.io.TempDir;
+
+/**
+ * Covers {@link SDFTools#tryToConvertToPath}'s last-resort fallback: every earlier strategy in that method assumes
+ * the on-disk resource layout mirrors the {@code package://} URI's own path structure (e.g. a resource directory
+ * containing a matching {@code robot_description/robots/.../assets/...} tree). The fallback drops that assumption -
+ * it strips leading path segments off the URI one at a time and looks for the shrinking suffix directly under each
+ * resource directory - so a mesh still resolves even when the on-disk bundle has been flattened relative to the
+ * package path declared in the URDF (as happens with some downloaded log bundles).
+ * <p>
+ * Both tests use JUnit's {@code @TempDir} to fabricate a throwaway directory + a 1-byte placeholder file at test
+ * time (not checked into source, deleted automatically afterward) - nothing here depends on any real robot's mesh
+ * files or on-disk layout.
+ * </p>
+ */
+public class SDFToolsTest
+{
+   /**
+    * {@code tempDir} holds only {@code assets/merged/test.stl} - no {@code robot_description/robots/version/urdf/}
+    * tree at all - while the requested URI is the full {@code package://robot_description/robots/version/urdf/
+    * assets/merged/test.stl}. Every earlier resolution strategy in {@code tryToConvertToPath} would fail to find
+    * this (the on-disk layout doesn't match the URI's path), so a successful result here specifically exercises the
+    * suffix-stripping fallback - and its "prefer the longest/most-specific matching suffix" behavior, since
+    * {@code assets/merged/test.stl} is the first (most specific) suffix that happens to exist under {@code tempDir}.
+    */
+   @Test
+   public void testTryToConvertToPathWithFlattenedResourceLayout(@TempDir File tempDir) throws IOException
+   {
+      // Simulates an on-disk resource bundle that has been flattened relative to the ROS package structure
+      // declared by the package:// URI, e.g. a downloaded log bundle with "assets/merged/*.stl" directly
+      // alongside the URDF, instead of the full "robot_description/robots/version/urdf/assets/merged/" tree.
+      File assetsDir = new File(tempDir, "assets/merged");
+      assertEquals(true, assetsDir.mkdirs());
+      File meshFile = new File(assetsDir, "test.stl");
+      Files.write(meshFile.toPath(), new byte[] {0});
+
+      String filename = "package://robot_description/robots/version/urdf/assets/merged/test.stl";
+      List<String> resourceDirectories = new ArrayList<>(Collections.singletonList(tempDir.getAbsolutePath()));
+
+      String result = SDFTools.tryToConvertToPath(filename, resourceDirectories, getClass().getClassLoader());
+
+      assertEquals(meshFile.getAbsolutePath(), result);
+   }
+
+   /**
+    * {@code tempDir} is empty this time - no file exists under any suffix of the requested URI, at any strip
+    * length, down to just the bare filename. The fallback (and every strategy before it) must give up gracefully
+    * and return {@code null} rather than throwing, so callers can report "mesh not found" instead of crashing.
+    */
+   @Test
+   public void testTryToConvertToPathReturnsNullWhenUnresolvable(@TempDir File tempDir)
+   {
+      String filename = "package://robot_description/robots/version/urdf/assets/merged/does_not_exist.stl";
+      List<String> resourceDirectories = new ArrayList<>(Collections.singletonList(tempDir.getAbsolutePath()));
+
+      String result = SDFTools.tryToConvertToPath(filename, resourceDirectories, getClass().getClassLoader());
+
+      assertNull(result);
+   }
+}

scs2-session-logger/build.gradle.kts

@@ -20,9 +20,20 @@ mainDependencies {
    api("us.ihmc:scs2-simulation:source") // TODO Need to fix this, it needs the Robot.
 
    api("us.ihmc:ihmc-robot-data-logger:0.39.1")
-   api("com.github.luben:zstd-jni:1.5.5-10")
+   api("us.ihmc:jros2-parser:1.4.0")
    api("org.antlr:antlr4-runtime:4.13.1")
    api("com.github.vatbub:mslinks:1.0.6.2")
+   api("com.google.protobuf:protobuf-java:4.34.2")
+   // Not using org.bytedeco:lz4-platform: it pulls in javacpp-platform, whose fixed javacpp:1.5.8
+   // classifier list (incl. android-arm/x86, linux-armhf, linux/windows-x86 32-bit) gets bumped to
+   // 1.5.11 by other native deps in this build (cuda/ffmpeg/openblas/opencv from ihmc-robot-data-logger),
+   // and those obsolete 32-bit/Android classifiers were dropped at 1.5.11, breaking resolution.
+   // Depending on the plain lz4 module plus only the native classifiers we actually avoid that.
+   api("org.bytedeco:lz4:1.9.4-1.5.8")
+   api("org.bytedeco:lz4:1.9.4-1.5.8:linux-x86_64")
+   api("org.bytedeco:lz4:1.9.4-1.5.8:macosx-x86_64")
+   api("org.bytedeco:lz4:1.9.4-1.5.8:macosx-arm64")
+   api("org.bytedeco:lz4:1.9.4-1.5.8:windows-x86_64")
 }
 
 testDependencies {