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URDF parser: use SDFormat 1.11, parse joint mimic #1333

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merged 3 commits into from
Oct 3, 2023
Merged

URDF parser: use SDFormat 1.11, parse joint mimic #1333

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be3a619
URDF parser: use SDFormat 1.11, parse joint mimic
scpeters Sep 26, 2023
309e611
Add example joint_mimic_rack_pinion.urdf and test
scpeters Oct 3, 2023
16ec0c7
parser_urdf.cc: fix comment
scpeters Oct 3, 2023
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16 changes: 14 additions & 2 deletions src/parser_urdf.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3148,6 +3148,18 @@ void CreateJoint(tinyxml2::XMLElement *_root,
AddKeyValue(jointAxisLimit, "velocity",
Values2str(1, &_link->parent_joint->limits->velocity));
}

if (_link->parent_joint->mimic)
{
tinyxml2::XMLElement *jointAxisMimic = doc->NewElement("mimic");
jointAxisMimic->SetAttribute(
"joint", _link->parent_joint->mimic->joint_name.c_str());
AddKeyValue(jointAxisMimic, "multiplier",
Values2str(1, &_link->parent_joint->mimic->multiplier));
AddKeyValue(jointAxisMimic, "offset",
Values2str(1, &_link->parent_joint->mimic->offset));
jointAxis->LinkEndChild(jointAxisMimic);
}
}

if (jtype == "fixed" && !fixedJointConvertedToRevoluteJoint)
Expand Down Expand Up @@ -3408,9 +3420,9 @@ void URDF2SDF::InitModelString(const std::string &_urdfStr,

try
{
// URDF is compatible with version 1.7. The automatic conversion script
// URDF is compatible with version 1.11. The automatic conversion script
// will up-convert URDF to SDF.
sdf->SetAttribute("version", "1.7");
sdf->SetAttribute("version", "1.11");
// add robot to sdf
sdf->LinkEndChild(robot);
}
Expand Down
6 changes: 3 additions & 3 deletions src/parser_urdf_TEST.cc
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Expand Up @@ -100,8 +100,8 @@ TEST(URDFParser, ParseResults_BasicModel_ParseEqualToModel)

// SDF -> SDF
std::ostringstream stream;
// parser_urdf.cc exports version "1.7"
stream << "<sdf version='" << "1.7" << "'>"
// parser_urdf.cc exports version "1.11"
stream << "<sdf version='" << "1.11" << "'>"
<< " <model name='test_robot' />"
<< "</sdf>";
tinyxml2::XMLDocument sdf_doc;
Expand Down Expand Up @@ -890,7 +890,7 @@ TEST(URDFParser, CheckJointTransform)
<< " </link>"
<< "</robot>";

std::string expectedSdf = R"(<sdf version="1.7">
std::string expectedSdf = R"(<sdf version="1.11">
<model name="test_robot">
<joint type="fixed" name="jointw_1">
<pose relative_to="__model__">0 0 0 0 0 0</pose>
Expand Down
26 changes: 26 additions & 0 deletions test/integration/joint_axis_dom.cc
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Expand Up @@ -559,3 +559,29 @@ TEST(DOMJointAxis, ParseMimicInvalidLeaderAxis)
EXPECT_EQ(errors[2].Message(), errorMsg2) << errors[2];
EXPECT_EQ(errors[3].Message(), errorMsg3) << errors[3];
}

/////////////////////////////////////////////////
TEST(DOMJointAxis, ParseMimicURDF)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "joint_mimic_rack_pinion.urdf");

sdf::Root root;
auto errors = root.Load(testFile);
EXPECT_TRUE(errors.empty()) << errors;

auto model = root.Model();
ASSERT_NE(nullptr, model);
auto followerJoint = model->JointByName("rack_joint");
ASSERT_NE(nullptr, followerJoint);
auto followerJointAxis = followerJoint->Axis();
ASSERT_NE(nullptr, followerJointAxis);
auto mimicJoint = followerJointAxis->Mimic();
ASSERT_NE(std::nullopt, mimicJoint);

EXPECT_EQ(mimicJoint->Joint(), "upper_joint");
EXPECT_EQ(mimicJoint->Axis(), "axis");
EXPECT_DOUBLE_EQ(mimicJoint->Multiplier(), 0.105);
EXPECT_DOUBLE_EQ(mimicJoint->Offset(), 0);
EXPECT_DOUBLE_EQ(mimicJoint->Reference(), 0);
}
125 changes: 125 additions & 0 deletions test/sdf/joint_mimic_rack_pinion.urdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,125 @@
<?xml version="1.0" ?>
<robot name="rack_and_pinion">
<link name="base">
<inertial>
<mass value="2500"/>
<inertia ixx="154.0" ixy="0.0" ixz="0.0" iyy="152.0" iyz="0.0" izz="28.8"/>
</inertial>
<!-- plate on ground -->
<visual>
<geometry>
<cylinder length="0.02" radius="0.8"/>
</geometry>
<origin xyz="0 0 0.01"/>
</visual>
<collision>
<geometry>
<cylinder length="0.02" radius="0.8"/>
</geometry>
<origin xyz="0 0 0.01"/>
</collision>
<!-- pole -->
<visual>
<geometry>
<box size="0.2 0.2 2.2"/>
</geometry>
<origin xyz="-0.275 0 1.1"/>
</visual>
<collision>
<geometry>
<box size="0.2 0.2 2.2"/>
</geometry>
<origin xyz="-0.275 0 1.1"/>
</collision>
</link>

<!-- pin joint for upper link -->
<joint name="upper_joint" type="continuous">
<origin rpy="-1.75 0 0" xyz="-0.025 0 2.1"/>
<axis xyz="1.0 0 0"/>
<parent link="base"/>
<child link="upper_link"/>
</joint>

<link name="upper_link">
<inertial>
<mass value="47"/>
<inertia ixx="6.7" ixy="0.0" ixz="0.0" iyy="6.7" iyz="0.0" izz="0.53"/>
<origin xyz="0 0 0.5"/>
</inertial>
<!-- upper joint shape -->
<visual>
<geometry>
<cylinder length="0.3" radius="0.1"/>
</geometry>
<origin rpy="0 1.5708 0"/>
</visual>
<collision>
<geometry>
<cylinder length="0.3" radius="0.1"/>
</geometry>
<origin rpy="0 1.5708 0"/>
</collision>
<visual name="vis_gear">
<geometry>
<mesh scale="0.78 0.78 5.0" filename="https://fuel.gazebosim.org/1.0/openrobotics/models/Gear Part/2/files/meshes/gear.dae"/>
</geometry>
<origin xyz="-0.1 0 0" rpy="0 1.5708 0"/>
</visual>
<!-- long cylinder shape -->
<visual>
<geometry>
<cylinder length="0.9" radius="0.1"/>
</geometry>
<origin xyz="0 0 0.5"/>
</visual>
<collision>
<geometry>
<cylinder length="0.9" radius="0.1"/>
</geometry>
<origin xyz="0 0 0.5"/>
</collision>
<!-- bob shape -->
<visual>
<geometry>
<cylinder length="0.3" radius="0.1"/>
</geometry>
<origin rpy="0 1.5708 0" xyz="0 0 1.0"/>
</visual>
<collision>
<geometry>
<cylinder length="0.3" radius="0.1"/>
</geometry>
<origin rpy="0 1.5708 0" xyz="0 0 1.0"/>
</collision>
</link>

<!-- prismatic rack joint -->
<joint name="rack_joint" type="prismatic">
<origin xyz="-0.025 0 2.355"/>
<axis xyz="0 -1.0 0"/>
<parent link="base"/>
<child link="rack"/>
<limit lower="-1" upper="1" velocity="1000" effort="10000"/>
<mimic joint="upper_joint" multiplier="0.105"/>
</joint>

<!-- Rack coupled to upper pendulum joint -->
<link name="rack">
<inertial>
<mass value="9"/>
<inertia ixx="3.0" ixy="0.0" ixz="0.0" iyy="0.08" iyz="0.0" izz="3.0"/>
</inertial>
<visual>
<geometry>
<box size="0.15 2.0 0.3"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.15 2.0 0.3"/>
</geometry>
</collision>
</link>

</robot>