Allow "drilling down" into nested model frames #381

azeey · 2020-10-01T18:07:14Z

This a draft PR that adds functionality to allow drilling down into nested models with the :: syntax. This also makes included models work as nested models

Resolves #293, #284
This builds on top of #355

This change is

Split nested_invalid_explicit_canonical_link.sdf into nested_explicit_canonical_link.sdf and nested_without_links_invalid.sdf and update UNIT_ign_TEST and an integration test. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

This extends the `Model::*NameExists` and `Model::*ByName` APIs (like LinkNameExists and LinkByName) that allow passing nested names that can begin with a sequence of nested model names separated by :: and may end with the name of an object of the specified type, such as "outer_model::inner_model::inner_joint". For now, if a nested model is not found that matches the nested name preceding the final ::, then it checks for objects in the current model that match the entire name. This extra check should be disabled when "::" is reserved and not allowed in frame names. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

…(implicit or explicit) Instead use the edges in the pose graph. This allows us to update only the pose graph when handling placement frames. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

The PoseRelativeTo used to be constructed in each nested model's Load funcition. Now, it's only constructed at the outer most model. Because of this decoupling and Since the model is `const` when the graph is constructed, placement frames are handled differently. Instead of updating the raw pose of the model, the edge connecting the model frame to it's relative_to frame is modified to take into account the placement frame. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

The __root__ vertex is the root node of both world and model PoseRelativeTo graphs. It corresponds to the `<sdf>` tag in SDFormat files. Having this node makes it possible to keep the a model's pose and (possibly accounting for placement_frame) information in the edge from the _root__ vertex to the model vertex. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

EricCousineau-TRI · 2020-10-01T18:54:08Z

Per f2f:

AT, SP: Semantic pose API, breaking encapsulation?
- (1) Add arg to ResolvePose() and ResolveXyzAxis() for how many levels up
- (2) Add SemanticPose.GetView(Level)
  - Have //joint/axis/xyz be expressed as SemanticPose or "SemanticOrientation"
- (3) Bake "upwards references" into string lookups in ResolvePose() and ResolveXyzAxis()
- (4) Pass SemanticPose objects directly into ResolvePose() and ResolveXyzAxis()
AT: Drilling
- Add a (private) __root__ frame to cap off root-level models and world
- Make sure users can't refer to __root__ in XML (e.g. abuse)

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

The `__root__` vertex still exits, but has either a `__model__` scope or a `world` scope. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

…ect to set the scope Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

…raphPose Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

codecov-io · 2020-10-08T03:33:52Z

Codecov Report

Merging #381 (0a8a7e0) into master (0093747) will increase coverage by 0.31%.
The diff coverage is 89.66%.

@@            Coverage Diff             @@
##           master     #381      +/-   ##
==========================================
+ Coverage   87.40%   87.71%   +0.31%     
==========================================
  Files          60       61       +1     
  Lines        9351     9467     +116     
==========================================
+ Hits         8173     8304     +131     
+ Misses       1178     1163      -15

Impacted Files	Coverage Δ
include/sdf/SemanticPose.hh	`100.00% <ø> (ø)`
include/sdf/Types.hh	`100.00% <ø> (ø)`
src/Collision.cc	`100.00% <ø> (ø)`
src/Light.cc	`92.63% <ø> (ø)`
src/Sensor.cc	`82.07% <ø> (ø)`
src/Visual.cc	`100.00% <ø> (ø)`
src/Utils.hh	`96.66% <66.66%> (-3.34%)`	⬇️
src/ign.cc	`74.41% <77.41%> (+1.69%)`	⬆️
src/FrameSemantics.cc	`77.82% <84.11%> (+0.21%)`	⬆️
src/parser.cc	`79.13% <97.72%> (+0.23%)`	⬆️
... and 15 more

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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

scpeters

Reviewed 3 of 3 files at r15.
Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @azeey)

src/FrameSemantics.cc, line 311 at r14 (raw file):

Previously, azeey (Addisu Z. Taddese) wrote…

The __root__ vertex identifies the scope that contains a root level model. In the PoseRelativeTo graph, this vertex is connected to the model with an edge that holds the value of //model/pose. However, in the FrameAttachedTo graph, the vertex is disconnected because nothing is attached to it. Since only links and static models are allowed to be disconnected in this graph, I chose STATIC_MODEL as its frame type. I could potentially add a different frame type, but that adds more complexity to the validateFrameAttachedToGraph code.

ok, that sounds fine. do you mind adding that justification as a comment in the code?

src/FrameSemantics.cc, line 1348 at r14 (raw file):

Previously, azeey (Addisu Z. Taddese) wrote…

Done in 5c42e39. I also made the outDegree != 0 an else if branch so it isn't taken if the scopeFrameType is not WORLD or STATIC_MODEL.

I see that you made this change in validateFrameAttachedToGraph, but I don't see the change here in validatePoseRelativeToGraph

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey

Reviewable status: 60 of 64 files reviewed, 1 unresolved discussion (waiting on @azeey, @EricCousineau-TRI, and @scpeters)

include/sdf/Model.hh, line 191 at r16 (raw file):

Previously, EricCousineau-TRI (Eric Cousineau) wrote…

Not sure if this came up on #355:

Methods like FrameCount() may now be "asymmetric" w.r.t. FrameByName() - i.e. the number of frames reachable by FrameByName() exceeds those indicated by FrameCount().

I think that's fine, but we should clarify that in a comment here, saying that it's only the immediate (not nested frames), and make an explicit mention that FrameByName can reach more.

(Same for link, joint, and nested models)

Thought about this when seeing the unittest mods about flattened models.

Done. Added clarifying comments in f544805.

src/FrameSemantics.cc, line 311 at r14 (raw file):

Previously, scpeters (Steve Peters) wrote…

ok, that sounds fine. do you mind adding that justification as a comment in the code?

Done in 661a502.

src/FrameSemantics.cc, line 1348 at r14 (raw file):

Previously, scpeters (Steve Peters) wrote…

I see that you made this change in validateFrameAttachedToGraph, but I don't see the change here in validatePoseRelativeToGraph

Ah, I missed that one. Done in 661a502.

test/integration/nested_model.cc, line 327 at r16 (raw file):

Previously, EricCousineau-TRI (Eric Cousineau) wrote…

nit xpectations is misspelled

Done in d06275b.

scpeters

Reviewed 4 of 4 files at r17, 1 of 1 files at r18.
Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @azeey and @EricCousineau-TRI)

include/sdf/Root.hh, line 113 at r17 (raw file):

    /// of this Root object.
    /// \remark ModelNameExists() can find nested models that are not immediate
    /// children of this Root object.

Root::ModelNameExists doesn't actually find nested models; this was enabled for Model::ModelNameExists in #355, but only for the Model class methods

include/sdf/World.hh, line 156 at r17 (raw file):

    /// \param[in] _name Name of the model.
    /// To get a model nested in other models, prefix the model name
    /// with the sequence of nested model names, delimited by "::".

World::ModelByName doesn't actually find nested models; this was enabled for Model::ModelByName in #355, but only for the Model class methods

azeey · 2020-11-05T21:05:40Z

include/sdf/Root.hh, line 113 at r17 (raw file):

Previously, scpeters (Steve Peters) wrote…

Root::ModelNameExists doesn't actually find nested models; this was enabled for Model::ModelNameExists in #355, but only for the Model class methods

hmm, I hadn't realized that. Do we want to keep it this way or update Root::ModelNameExists and World::ModelNameExists to also work for nested models?

scpeters

Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @azeey and @EricCousineau-TRI)

include/sdf/Root.hh, line 113 at r17 (raw file):

Previously, azeey (Addisu Z. Taddese) wrote…

hmm, I hadn't realized that. Do we want to keep it this way or update Root::ModelNameExists and World::ModelNameExists to also work for nested models?

changing the Root and World APIs wasn't necessary to support explicitly nested canonical links, so I didn't address it in #355. I think it would be reasonable to make all the *ByName and *NameExists APIs work like this, but I'd make an issue for it and not try to include it here

…tions Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey

Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @EricCousineau-TRI and @scpeters)

include/sdf/Root.hh, line 113 at r17 (raw file):

Previously, scpeters (Steve Peters) wrote…

changing the Root and World APIs wasn't necessary to support explicitly nested canonical links, so I didn't address it in #355. I think it would be reasonable to make all the *ByName and *NameExists APIs work like this, but I'd make an issue for it and not try to include it here

Okay. Created a ticket: #412 and reverted the change in 8b0665a.

include/sdf/World.hh, line 156 at r17 (raw file):

Previously, scpeters (Steve Peters) wrote…

World::ModelByName doesn't actually find nested models; this was enabled for Model::ModelByName in #355, but only for the Model class methods

Reverted in 8b0665a

scpeters

Reviewed 2 of 2 files at r19.
Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @azeey and @EricCousineau-TRI)

include/sdf/Root.hh, line 113 at r17 (raw file):

    /// \brief Get the number of models that are immediate (not nested) children
    /// of this Root object.

I think this part of the change was ok, since it clarified that the API refers to not-nested children. The \remark was the part that I object to.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey

Reviewable status: 62 of 64 files reviewed, 2 unresolved discussions (waiting on @EricCousineau-TRI and @scpeters)

include/sdf/Root.hh, line 113 at r17 (raw file):

Previously, scpeters (Steve Peters) wrote…

    /// \brief Get the number of models that are immediate (not nested) children
    /// of this Root object.
I think this part of the change was ok, since it clarified that the API refers to not-nested children. The \remark was the part that I object to.

Okay, kept that part of the change in 6390633.

scpeters

Reviewed 2 of 2 files at r20.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @EricCousineau-TRI)

EricCousineau-TRI

Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @azeey)

include/sdf/Model.hh, line 191 at r16 (raw file):

Previously, azeey (Addisu Z. Taddese) wrote…

Done. Added clarifying comments in f544805.

OK Thanks!

EricCousineau-TRI

Reviewed 5 of 8 files at r14, 2 of 4 files at r17, 1 of 1 files at r18, 2 of 2 files at r20.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @azeey)

test/integration/nested_model.cc, line 628 at r20 (raw file):

{
  const std::string testFile =
    sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration",

BTW Did you have a chance to confirm that loading a flattened out model in SDFormat 1.8 fails?

azeey

Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @azeey)

test/integration/nested_model.cc, line 628 at r20 (raw file):

Previously, EricCousineau-TRI (Eric Cousineau) wrote…

BTW Did you have a chance to confirm that loading a flattened out model in SDFormat 1.8 fails?

No I haven't. Just so I understand, it should pass if the file has version=1.7, but fail if 1.8?

…sdf::Root (#1) * Move graph creation to sdf::Root from sdf::World and sdf::Model. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Convert ScopedGraph to hold a strong reference to the underlying graph Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add copy/move constructors to sdf::Root Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Additional test of sdf::Root objects before copy and move Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix typo Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Explicitly delete copy constructor and assignment. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

EricCousineau-TRI

Reviewable status: 57 of 65 files reviewed, all discussions resolved (waiting on @azeey, @EricCousineau-TRI, and @scpeters)

test/integration/nested_model.cc, line 628 at r20 (raw file):

Previously, azeey (Addisu Z. Taddese) wrote…

No I haven't. Just so I understand, it should pass if the file has version=1.7, but fail if 1.8?

Yup! Feel free to do that as follow-up if you'd like this to merge first!

azeey

Reviewable status: 57 of 65 files reviewed, all discussions resolved (waiting on @azeey, @EricCousineau-TRI, and @scpeters)

test/integration/nested_model.cc, line 628 at r20 (raw file):

Previously, EricCousineau-TRI (Eric Cousineau) wrote…

Yup! Feel free to do that as follow-up if you'd like this to merge first!

Okay, yeah, I'll go ahead and merge the PR and create an issue for this.

azeey · 2020-11-18T21:53:39Z

test/integration/nested_model.cc, line 628 at r20 (raw file):

Previously, azeey (Addisu Z. Taddese) wrote…

Okay, yeah, I'll go ahead and merge the PR and create an issue for this.

#420

scpeters and others added 16 commits September 3, 2020 12:09

Expect nested_explicit_canonical_link.sdf is valid

05a9037

Split nested_invalid_explicit_canonical_link.sdf into nested_explicit_canonical_link.sdf and nested_without_links_invalid.sdf and update UNIT_ign_TEST and an integration test. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Changelog and Migration guide

79fc3e6

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Ensure CanonicalLink pointer is valid

8b92f41

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Merge branch 'master' into explicit_nested_canonical

6659e83

Add ScopedGraph header

a07b42b

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Frame attached to tests passing

612a805

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

FrameSemantics_TEST passing

f74fc33

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Pass ChildScope with new scope name

041e1c2

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Merge branch 'explicit_nested_canonical' into drill_down

aaf0742

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add command line tool to generate graph

b0bf73b

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Avoid using the RawPose of the DOM object when the object is a frame …

3fe002b

…(implicit or explicit) Instead use the edges in the pose graph. This allows us to update only the pose graph when handling placement frames. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Revert changes in loadUniqueRepeated

5fd9abc

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Make ScopedGraph use pointer semantics

565dffb

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey self-assigned this Oct 1, 2020

azeey added 10 commits October 6, 2020 13:27

Cleanup

4cefd79

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Remove __root__ scope name

446a536

The `__root__` vertex still exits, but has either a `__model__` scope or a `world` scope. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

SemanticPose::Resolve and JointAxis::ResolveXyz to a SemanticPose obj…

023aea5

…ect to set the scope Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add missing file

71e24bb

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Remove aliasing edges, there is no need for them. Also remove updateG…

f97e00c

…raphPose Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Refactor

dd835a6

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Cleanup

50edaec

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add Resolve function that takes DOM objects

9b6c99e

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Add test for placement attribute with nested link

1cecc0c

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Codecheck

eb78dbc

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Fix macOS build error

2cbe572

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

scpeters reviewed Nov 4, 2020

View reviewed changes

azeey added 3 commits November 5, 2020 08:21

State that *Count functions only count immediate child elements

f544805

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Address reviewer feedback

661a502

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Typo

d06275b

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey commented Nov 5, 2020

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scpeters requested changes Nov 5, 2020

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azeey mentioned this pull request Nov 6, 2020

Root::*ByName and World::ByName should find objects in nested models #412

Closed

Revert documentation updates to Root::*ByName and World::*ByName func…

8b0665a

…tions Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey commented Nov 6, 2020

View reviewed changes

scpeters reviewed Nov 7, 2020

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Keep some of the changes from the previous commit

6390633

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey commented Nov 11, 2020

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scpeters approved these changes Nov 11, 2020

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EricCousineau-TRI reviewed Nov 13, 2020

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azeey commented Nov 18, 2020

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EricCousineau-TRI reviewed Nov 18, 2020

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azeey commented Nov 18, 2020

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azeey merged commit 5a91081 into gazebosim:master Nov 18, 2020

azeey deleted the drill_down branch November 18, 2020 21:56

EricCousineau-TRI mentioned this pull request Nov 19, 2020

Make included models work as nested models via DOM in libsdformat10 #284

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azeey mentioned this pull request Dec 2, 2020

Figure out how to build FrameAttachedToGraph for static models with no links #282

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scpeters mentioned this pull request Dec 15, 2020

joints with links from nested models fail to parse #440

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scpeters mentioned this pull request Oct 6, 2022

Add a configuration option to resolve URIs #1147

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Allow "drilling down" into nested model frames #381

Allow "drilling down" into nested model frames #381

azeey commented Oct 1, 2020 •

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azeey commented Nov 18, 2020

Allow "drilling down" into nested model frames #381

Allow "drilling down" into nested model frames #381

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azeey commented Nov 18, 2020

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