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urdf_to_sdf.cc
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urdf_to_sdf.cc
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/*
* Copyright 2023 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "sdf/parser.hh"
#include "sdf/ParserConfig.hh"
#include "test_config.h"
#include "test_utils.hh"
//////////////////////////////////////////////////
TEST(URDF2SDF, ValidBasicURDF)
{
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
</robot>)";
sdf::ParserConfig config;
sdf::Root root;
sdf::Errors errors = root.LoadSdfString(urdfXml, config);
ASSERT_TRUE(errors.empty()) << errors;
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
}
//////////////////////////////////////////////////
TEST(URDF2SDF, ValidContinuousJointedURDF)
{
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint1_2' type='continuous'>
<parent link='link1' />
<child link='link2' />
<origin xyz='1.0 2.0 3.0' rpy='0.0 0.0 1.57'/>
</joint>
</robot>)";
sdf::ParserConfig config;
sdf::Root root;
sdf::Errors errors = root.LoadSdfString(urdfXml, config);
ASSERT_TRUE(errors.empty()) << errors;
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
EXPECT_TRUE(model->LinkNameExists("link2"));
EXPECT_TRUE(model->JointNameExists("joint1_2"));
}
//////////////////////////////////////////////////
TEST(URDF2SDF, ZeroMassIntermediateLinkWithFixedParentJoint)
{
// Redirect sdfwarn output
std::stringstream buffer;
sdf::testing::RedirectConsoleStream redir(
sdf::Console::Instance()->GetMsgStream(), &buffer);
#ifdef _WIN32
sdf::Console::Instance()->SetQuiet(false);
sdf::testing::ScopeExit revertSetQuiet(
[]
{
sdf::Console::Instance()->SetQuiet(true);
});
#endif
// joint lumping and reduction occurs
{
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint1_2' type='fixed'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint2_3' type='continuous'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
</robot>)";
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.LoadSdfString(urdfXml, defaultConfig);
ASSERT_TRUE(errors.empty()) << errors;
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
const sdf::Link *link = model->LinkByName("link1");
ASSERT_NE(nullptr, link);
// link2 visual and collision lumps into link1
EXPECT_TRUE(link->VisualNameExists("link1_fixed_joint_lump__link2_visual"));
EXPECT_TRUE(
link->CollisionNameExists("link1_fixed_joint_lump__link2_collision"));
// joint1_2 converted into frame, attached to link1
EXPECT_TRUE(model->FrameNameExists("joint1_2"));
const sdf::Frame *frame = model->FrameByName("joint1_2");
ASSERT_NE(nullptr, frame);
EXPECT_EQ(std::string("link1"), frame->AttachedTo());
// link2 converted into frame, attached to joint1_2
EXPECT_TRUE(model->FrameNameExists("link2"));
frame = model->FrameByName("link2");
ASSERT_NE(nullptr, frame);
EXPECT_EQ(std::string("joint1_2"), frame->AttachedTo());
// joint2_3 will change to be relative to link1
EXPECT_TRUE(model->JointNameExists("joint2_3"));
const sdf::Joint *joint = model->JointByName("joint2_3");
ASSERT_NE(nullptr, joint);
EXPECT_EQ(std::string("link1"), joint->ParentLinkName());
EXPECT_EQ(std::string("link3"), joint->ChildLinkName());
// link3
EXPECT_TRUE(model->LinkNameExists("link3"));
}
// Disabling lumping using gazebo tags, fails with warnings suggesting to
// remove gazebo tags
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint1_2' type='fixed'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint2_3' type='continuous'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<gazebo reference='joint1_2'>
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>)";
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.LoadSdfString(urdfXml, defaultConfig);
// no sdf errors, however we expect warnings and ignored joints and links
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"allowing joint lumping by removing any <disableFixedJointLumping> or "
"<preserveFixedJoint> gazebo tag on fixed parent joint[joint1_2], as "
"well as ensuring that ParserConfig::URDFPreserveFixedJoint is false, "
"could help resolve this warning.");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"parent joint[joint1_2] ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child links ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child joints ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
const sdf::Link *link = model->LinkByName("link1");
ASSERT_NE(nullptr, link);
// expect everything below joint1_2 to be ignored
EXPECT_FALSE(model->LinkNameExists("link2"));
EXPECT_FALSE(model->JointNameExists("joint1_2"));
EXPECT_FALSE(model->LinkNameExists("link3"));
EXPECT_FALSE(model->JointNameExists("joint2_3"));
// expect no visual or collision from link2 lumped into link1
EXPECT_FALSE(
link->VisualNameExists("link1_fixed_joint_lump__link2_visual"));
EXPECT_FALSE(
link->CollisionNameExists("link1_fixed_joint_lump__link2_collision"));
}
// Disabling lumping using ParserConfig::URDFPreserveFixedJoint, fails with
// warnings suggesting to set to false
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint1_2' type='fixed'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint2_3' type='continuous'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
</robot>)";
sdf::Root root;
sdf::ParserConfig config;
config.URDFSetPreserveFixedJoint(true);
sdf::Errors errors = root.LoadSdfString(urdfXml, config);
// no sdf errors, however we expect warnings and ignored joints and links
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"allowing joint lumping by removing any <disableFixedJointLumping> or "
"<preserveFixedJoint> gazebo tag on fixed parent joint[joint1_2], as "
"well as ensuring that ParserConfig::URDFPreserveFixedJoint is false, "
"could help resolve this warning");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"parent joint[joint1_2] ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child links ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child joints ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
const sdf::Link *link = model->LinkByName("link1");
ASSERT_NE(nullptr, link);
// expect everything below joint1_2 to be ignored
EXPECT_FALSE(model->LinkNameExists("link2"));
EXPECT_FALSE(model->JointNameExists("joint1_2"));
EXPECT_FALSE(model->LinkNameExists("link3"));
EXPECT_FALSE(model->JointNameExists("joint2_3"));
// expect no visual or collision from link2 lumped into link1
EXPECT_FALSE(
link->VisualNameExists("link1_fixed_joint_lump__link2_visual"));
EXPECT_FALSE(
link->CollisionNameExists("link1_fixed_joint_lump__link2_collision"));
}
}
//////////////////////////////////////////////////
TEST(URDF2SDF, ZeroMassIntermediateLinkWithFixedChildJoint)
{
// Redirect sdfwarn output
std::stringstream buffer;
sdf::testing::RedirectConsoleStream redir(
sdf::Console::Instance()->GetMsgStream(), &buffer);
#ifdef _WIN32
sdf::Console::Instance()->SetQuiet(false);
sdf::testing::ScopeExit revertSetQuiet(
[]
{
sdf::Console::Instance()->SetQuiet(true);
});
#endif
// lumping and reduction occurs, mass of link3 lumped into link2
// link3 and joint2_3 converted into frames
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint1_2' type='continuous'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint2_3' type='fixed'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
</robot>)";
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.LoadSdfString(urdfXml, defaultConfig);
// lumping and reduction occurs, no warnings or errors should be present
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::notContains, buffer.str(),
"link[link2] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::notContains, buffer.str(),
"link[link2] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
// mass of link3 lumped into link2, link2 not converted to frame
const sdf::Link *link = model->LinkByName("link2");
ASSERT_NE(nullptr, link);
// joint1_2
EXPECT_TRUE(model->JointNameExists("joint1_2"));
// link2 visual and collision remain
EXPECT_TRUE(link->VisualNameExists("link2_visual"));
EXPECT_TRUE(link->CollisionNameExists("link2_collision"));
// joint2_3 converted into a frame
EXPECT_TRUE(model->FrameNameExists("joint2_3"));
const sdf::Frame *frame = model->FrameByName("joint2_3");
ASSERT_NE(nullptr, frame);
EXPECT_EQ(std::string("link2"), frame->AttachedTo());
// link3 converted into a frame
EXPECT_TRUE(model->FrameNameExists("link3"));
frame = model->FrameByName("link3");
ASSERT_NE(nullptr, frame);
EXPECT_EQ(std::string("joint2_3"), frame->AttachedTo());
}
// turn off lumping with gazebo tag, conversion fails with dropped links and
// joints, and warnings to remove gazebo tags
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint1_2' type='continuous'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint2_3' type='fixed'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<gazebo reference='joint2_3'>
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>)";
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.LoadSdfString(urdfXml, defaultConfig);
// Everything beneath joint1_2 is ignored, no sdf errors, but warnings
// expected with suggestion to remove gazebo tag
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"parent joint[joint1_2] ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"allowing joint lumping by removing any <disableFixedJointLumping> or "
"<preserveFixedJoint> gazebo tag on fixed child joint[joint2_3], as "
"well as ensuring that ParserConfig::URDFPreserveFixedJoint is false, "
"could help resolve this warning.");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child joints ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child links ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
EXPECT_FALSE(model->LinkNameExists("link2"));
EXPECT_FALSE(model->FrameNameExists("link2"));
EXPECT_FALSE(model->JointNameExists("joint1_2"));
EXPECT_FALSE(model->FrameNameExists("joint1_2"));
EXPECT_FALSE(model->LinkNameExists("link3"));
EXPECT_FALSE(model->FrameNameExists("link3"));
EXPECT_FALSE(model->JointNameExists("joint2_3"));
EXPECT_FALSE(model->FrameNameExists("joint2_3"));
}
// Disabling lumping using ParserConfig::URDFPreserveFixedJoint, fails with
// warnings suggesting to set to false
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint1_2' type='continuous'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint2_3' type='fixed'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
</robot>)";
sdf::Root root;
sdf::ParserConfig config;
config.URDFSetPreserveFixedJoint(true);
sdf::Errors errors = root.LoadSdfString(urdfXml, config);
// Everything beneath joint1_2 is ignored, no sdf errors, but warnings
// expected with suggestion to remove gazebo tag
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"parent joint[joint1_2] ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"allowing joint lumping by removing any <disableFixedJointLumping> or "
"<preserveFixedJoint> gazebo tag on fixed child joint[joint2_3], as "
"well as ensuring that ParserConfig::URDFPreserveFixedJoint is false, "
"could help resolve this warning");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child joints ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"[1] child links ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link2] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
EXPECT_FALSE(model->LinkNameExists("link2"));
EXPECT_FALSE(model->FrameNameExists("link2"));
EXPECT_FALSE(model->JointNameExists("joint1_2"));
EXPECT_FALSE(model->FrameNameExists("joint1_2"));
EXPECT_FALSE(model->LinkNameExists("link3"));
EXPECT_FALSE(model->FrameNameExists("link3"));
EXPECT_FALSE(model->JointNameExists("joint2_3"));
EXPECT_FALSE(model->FrameNameExists("joint2_3"));
}
}
/////////////////////////////////////////////////
TEST(URDFParser, ZeroMassLeafLink)
{
// Redirect sdfwarn output
std::stringstream buffer;
sdf::testing::RedirectConsoleStream redir(
sdf::Console::Instance()->GetMsgStream(), &buffer);
#ifdef _WIN32
sdf::Console::Instance()->SetQuiet(false);
sdf::testing::ScopeExit revertSetQuiet(
[]
{
sdf::Console::Instance()->SetQuiet(true);
});
#endif
// lumping and reduction occurs
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint1_2' type='continuous'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint2_3' type='fixed'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
</robot>)";
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.LoadSdfString(urdfXml, defaultConfig);
// lumping and reduction occurs, no warnings should be present
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::notContains, buffer.str(),
"link[link3] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::notContains, buffer.str(),
"link[link3] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
// link2
const sdf::Link *link = model->LinkByName("link2");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(model->JointNameExists("joint1_2"));
// joint1_2
EXPECT_TRUE(model->JointNameExists("joint1_2"));
// link3 visual and collision lumped into link2
EXPECT_TRUE(
link->VisualNameExists("link2_fixed_joint_lump__link3_visual"));
EXPECT_TRUE(
link->CollisionNameExists("link2_fixed_joint_lump__link3_collision"));
// joint2_3 converted into a frame
EXPECT_TRUE(model->FrameNameExists("joint2_3"));
const sdf::Frame *frame = model->FrameByName("joint2_3");
ASSERT_NE(nullptr, frame);
EXPECT_EQ(std::string("link2"), frame->AttachedTo());
// link3 converted into a frame
EXPECT_TRUE(model->FrameNameExists("link3"));
frame = model->FrameByName("link3");
ASSERT_NE(nullptr, frame);
EXPECT_EQ(std::string("joint2_3"), frame->AttachedTo());
}
// lumping and reduction turned off with gazebo tag, expect link3 and joint2_3
// to be ignored and warnings suggesting to remove gazebo tag
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint1_2' type='continuous'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint2_3' type='fixed'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<gazebo reference='joint2_3'>
<disableFixedJointLumping>true</disableFixedJointLumping>
</gazebo>
</robot>)";
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.LoadSdfString(urdfXml, defaultConfig);
// joint2_3 and link3 will be ignored, and warnings suggesting to remove
// gazebo tags
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link3] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"allowing joint lumping by removing any <disableFixedJointLumping> or "
"<preserveFixedJoint> gazebo tag on fixed parent joint[joint2_3], as "
"well as ensuring that ParserConfig::URDFPreserveFixedJoint is false, "
"could help resolve this warning");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"parent joint[joint2_3] ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link3] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
// link2
const sdf::Link *link = model->LinkByName("link2");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(model->JointNameExists("joint1_2"));
// joint1_2
EXPECT_TRUE(model->JointNameExists("joint1_2"));
// link3 visual and collision not lumped into link2
EXPECT_FALSE(
link->VisualNameExists("link2_fixed_joint_lump__link3_visual"));
EXPECT_FALSE(
link->CollisionNameExists("link2_fixed_joint_lump__link3_collision"));
// joint2_3 and link3 ignored
EXPECT_FALSE(model->LinkNameExists("link3"));
EXPECT_FALSE(model->FrameNameExists("link3"));
EXPECT_FALSE(model->JointNameExists("joint2_3"));
EXPECT_FALSE(model->FrameNameExists("joint2_3"));
}
// ParserConfig::URDFSetPreserveFixedJoint set to true, expect link3 and
// joint2_3 to be ignored and warnings suggesting to remove gazebo tag
{
// clear the contents of the buffer
buffer.str("");
std::string urdfXml = R"(
<robot name='test_robot'>
<link name='link1'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<link name='link2'>
<inertial>
<mass value='0.1' />
<origin rpy='1.570796326794895 0 0' xyz='0.123456789123456 0 0.0' />
<inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
</inertial>
</link>
<joint name='joint1_2' type='continuous'>
<parent link='link1' />
<child link='link2' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
<link name='link3'> <!-- zero mass link -->
<visual>
<origin rpy="3 -0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="2.0"/>
</geometry>
</visual>
<collision>
<geometry>
<sphere radius="2.0"/>
</geometry>
</collision>
</link>
<joint name='joint2_3' type='fixed'>
<parent link='link2' />
<child link='link3' />
<origin xyz='0.0 0.0 0.0' rpy='0.0 0.0 1.57'/>
</joint>
</robot>)";
sdf::Root root;
sdf::ParserConfig config;
config.URDFSetPreserveFixedJoint(true);
sdf::Errors errors = root.LoadSdfString(urdfXml, config);
// joint2_3 and link3 will be ignored, and warnings suggesting to remove
// gazebo tags
ASSERT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link3] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"allowing joint lumping by removing any <disableFixedJointLumping> or "
"<preserveFixedJoint> gazebo tag on fixed parent joint[joint2_3], as "
"well as ensuring that ParserConfig::URDFPreserveFixedJoint is false, "
"could help resolve this warning");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"parent joint[joint2_3] ignored");
EXPECT_PRED2(sdf::testing::contains, buffer.str(),
"link[link3] is not modeled in sdf");
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_TRUE(model->LinkNameExists("link1"));
// link2
const sdf::Link *link = model->LinkByName("link2");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(model->JointNameExists("joint1_2"));
// joint1_2
EXPECT_TRUE(model->JointNameExists("joint1_2"));
// link3 visual and collision not lumped into link2
EXPECT_FALSE(
link->VisualNameExists("link2_fixed_joint_lump__link3_visual"));
EXPECT_FALSE(
link->CollisionNameExists("link2_fixed_joint_lump__link3_collision"));
// joint2_3 and link3 ignored
EXPECT_FALSE(model->LinkNameExists("link3"));
EXPECT_FALSE(model->FrameNameExists("link3"));
EXPECT_FALSE(model->JointNameExists("joint2_3"));
EXPECT_FALSE(model->FrameNameExists("joint2_3"));
}
}
//////////////////////////////////////////////////
TEST(URDF2SDF, URDFConvertForceTorqueSensorModels)
{
// Redirect sdfwarn output
std::stringstream buffer;
sdf::testing::RedirectConsoleStream redir(
sdf::Console::Instance()->GetMsgStream(), &buffer);
#ifdef _WIN32
sdf::Console::Instance()->SetQuiet(false);
sdf::testing::ScopeExit revertSetQuiet(
[]
{
sdf::Console::Instance()->SetQuiet(true);
});
#endif
// valid force torque sensor
{
// clear the contents of the buffer
buffer.str("");
const std::string sdfTestFile =
sdf::testing::TestFile("integration", "force_torque_sensor.urdf");
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.Load(sdfTestFile, defaultConfig);
EXPECT_TRUE(errors.empty()) << errors;
}
// invalid force torque sensor, with massless child link, fixed parent joint,
// lumping and reduction occurs, no errors or warning will be emitted, but
// force torque sensor won't be able to attach to joint-converted frame, this
// is the case where users need to be wary about
// TODO(aaronchongth): To provide warning when joint is dropped/converted
// during lumping and reduction
{
// clear the contents of the buffer
buffer.str("");
const std::string sdfTestFile =
sdf::testing::TestFile(
"integration",
"invalid_force_torque_sensor_lumped_and_reduced.urdf");
sdf::Root root;
sdf::ParserConfig defaultConfig;
sdf::Errors errors = root.Load(sdfTestFile, defaultConfig);
// lumping and reduction occurs, we expect no warnings or errors
EXPECT_TRUE(errors.empty()) << errors;
EXPECT_PRED2(sdf::testing::notContains, buffer.str(),
"link[link_1] has no <inertial> block defined. Please ensure this link "
"has a valid mass to prevent any missing links or joints in the "
"resulting SDF model");
EXPECT_PRED2(sdf::testing::notContains, buffer.str(),