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detail_sdf_parser_test.cc
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detail_sdf_parser_test.cc
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#include "drake/multibody/parsing/detail_sdf_parser.h"
#include <fstream>
#include <memory>
#include <stdexcept>
#include <gtest/gtest.h>
#include <sdf/sdf.hh>
#include "drake/common/filesystem.h"
#include "drake/common/find_resource.h"
#include "drake/common/temp_directory.h"
#include "drake/common/test_utilities/eigen_matrix_compare.h"
#include "drake/common/test_utilities/expect_no_throw.h"
#include "drake/common/test_utilities/expect_throws_message.h"
#include "drake/geometry/geometry_instance.h"
#include "drake/geometry/scene_graph.h"
#include "drake/geometry/shape_specification.h"
#include "drake/math/rigid_transform.h"
#include "drake/math/roll_pitch_yaw.h"
#include "drake/multibody/parsing/detail_path_utils.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/multibody/tree/ball_rpy_joint.h"
#include "drake/multibody/tree/linear_bushing_roll_pitch_yaw.h"
#include "drake/multibody/tree/planar_joint.h"
#include "drake/multibody/tree/prismatic_joint.h"
#include "drake/multibody/tree/revolute_joint.h"
#include "drake/multibody/tree/revolute_spring.h"
#include "drake/multibody/tree/rigid_body.h"
#include "drake/multibody/tree/universal_joint.h"
#include "drake/systems/framework/context.h"
namespace drake {
namespace multibody {
namespace internal {
namespace {
using Eigen::Vector2d;
using Eigen::Vector3d;
using geometry::GeometryId;
using geometry::GeometryInstance;
using geometry::SceneGraph;
using math::RigidTransform;
using math::RigidTransformd;
using math::RollPitchYaw;
using math::RollPitchYawd;
using systems::Context;
const double kEps = std::numeric_limits<double>::epsilon();
// TODO(jwnimmer-tri) This unit test has a lot of copy-pasta, including these
// helper functions as well as all their call sites below. We should refactor
// the plant, scene_graph, etc. into a test fixture for brevity.
ModelInstanceIndex AddModelFromSdfFile(
const std::string& file_name,
const std::string& model_name,
const PackageMap& package_map,
MultibodyPlant<double>* plant,
geometry::SceneGraph<double>* scene_graph = nullptr) {
return AddModelFromSdf(
{ .file_name = &file_name },
model_name, package_map, plant, scene_graph);
}
std::vector<ModelInstanceIndex> AddModelsFromSdfFile(
const std::string& file_name,
const PackageMap& package_map,
MultibodyPlant<double>* plant,
geometry::SceneGraph<double>* scene_graph = nullptr) {
return AddModelsFromSdf(
{ .file_name = &file_name },
package_map, plant, scene_graph);
}
// Verifies that the SDF loader can leverage a specified package map.
GTEST_TEST(MultibodyPlantSdfParserTest, PackageMapSpecified) {
// We start with the world and default model instances (model_instance.h
// explains why there are two).
MultibodyPlant<double> plant(0.0);
geometry::SceneGraph<double> scene_graph;
ASSERT_EQ(plant.num_model_instances(), 2);
const std::string full_sdf_filename = FindResourceOrThrow(
"drake/multibody/parsing/test/box_package/sdfs/box.sdf");
filesystem::path package_path = full_sdf_filename;
package_path = package_path.parent_path();
package_path = package_path.parent_path();
// Construct the PackageMap.
PackageMap package_map;
package_map.PopulateFromFolder(package_path.string());
// Read in the SDF file.
AddModelFromSdfFile(full_sdf_filename, "", package_map, &plant, &scene_graph);
plant.Finalize();
// Verify the number of model instances.
EXPECT_EQ(plant.num_model_instances(), 3);
}
// Acceptance test that libsdformat can upgrade very old files. This ensures
// the upgrade machinery keeps working (in particular our re-implementation of
// the embedSdf.rb tool within tools/workspace/sdformat).
GTEST_TEST(MultibodyPlantSdfParserTest, VeryOldVersion) {
MultibodyPlant<double> plant(0.0);
PackageMap package_map;
const std::string full_sdf_filename = FindResourceOrThrow(
"drake/multibody/parsing/test/sdf_parser_test/very_old_version.sdf");
EXPECT_EQ(plant.num_model_instances(), 2);
AddModelFromSdfFile(full_sdf_filename, "", package_map, &plant, nullptr);
plant.Finalize();
EXPECT_EQ(plant.num_model_instances(), 3);
}
// Verifies model instances are correctly created in the plant.
GTEST_TEST(MultibodyPlantSdfParserTest, ModelInstanceTest) {
// We start with the world and default model instances (model_instance.h
// explains why there are two).
MultibodyPlant<double> plant(0.0);
ASSERT_EQ(plant.num_model_instances(), 2);
const std::string full_name = FindResourceOrThrow(
"drake/multibody/parsing/test/"
"links_with_visuals_and_collisions.sdf");
PackageMap package_map;
package_map.PopulateUpstreamToDrake(full_name);
ModelInstanceIndex instance1 =
AddModelFromSdfFile(full_name, "instance1", package_map, &plant);
// Check that a duplicate model names are not allowed.
DRAKE_EXPECT_THROWS_MESSAGE(
AddModelFromSdfFile(full_name, "instance1", package_map, &plant),
std::logic_error,
"This model already contains a model instance named 'instance1'. "
"Model instance names must be unique within a given model.");
// Load two acrobots to check per-model-instance items.
const std::string acrobot_sdf_name = FindResourceOrThrow(
"drake/multibody/benchmarks/acrobot/acrobot.sdf");
ModelInstanceIndex acrobot1 =
AddModelFromSdfFile(acrobot_sdf_name, "", package_map, &plant);
// Loading the model again without specifying a different model name should
// throw.
EXPECT_THROW(AddModelFromSdfFile(acrobot_sdf_name, "", package_map, &plant),
std::logic_error);
ModelInstanceIndex acrobot2 =
AddModelFromSdfFile(acrobot_sdf_name, "acrobot2", package_map, &plant);
// We are done adding models.
plant.Finalize();
ASSERT_EQ(plant.num_model_instances(), 5);
EXPECT_EQ(plant.GetModelInstanceByName("instance1"), instance1);
EXPECT_EQ(plant.GetModelInstanceByName("acrobot"), acrobot1);
EXPECT_EQ(plant.GetModelInstanceByName("acrobot2"), acrobot2);
// Check that the model name override is reflected in the model frame.
EXPECT_TRUE(plant.HasFrameNamed("instance1"));
EXPECT_TRUE(plant.HasFrameNamed("acrobot"));
EXPECT_TRUE(plant.HasFrameNamed("acrobot2"));
// Check a couple links from the first model without specifying the model
// instance.
EXPECT_TRUE(plant.HasBodyNamed("link3"));
EXPECT_FALSE(plant.HasBodyNamed("link_which_doesnt_exist"));
// Links which appear in multiple model instances throw if the instance
// isn't specified.
DRAKE_EXPECT_THROWS_MESSAGE(
plant.HasBodyNamed("Link1"), std::logic_error,
"Body Link1 appears in multiple model instances.");
EXPECT_FALSE(plant.HasBodyNamed("Link1", instance1));
EXPECT_TRUE(plant.HasBodyNamed("Link1", acrobot1));
EXPECT_TRUE(plant.HasBodyNamed("Link1", acrobot2));
const Body<double>& acrobot1_link1 =
plant.GetBodyByName("Link1", acrobot1);
const Body<double>& acrobot2_link1 =
plant.GetBodyByName("Link1", acrobot2);
EXPECT_NE(acrobot1_link1.index(), acrobot2_link1.index());
EXPECT_EQ(acrobot1_link1.model_instance(), acrobot1);
EXPECT_EQ(acrobot2_link1.model_instance(), acrobot2);
DRAKE_EXPECT_THROWS_MESSAGE(
plant.GetBodyByName("Link1"), std::logic_error,
"Body Link1 appears in multiple model instances.");
DRAKE_EXPECT_THROWS_MESSAGE(
plant.HasJointNamed("ShoulderJoint"), std::logic_error,
"Joint ShoulderJoint appears in multiple model instances.");
EXPECT_FALSE(plant.HasJointNamed("ShoulderJoint", instance1));
EXPECT_TRUE(plant.HasJointNamed("ShoulderJoint", acrobot1));
EXPECT_TRUE(plant.HasJointNamed("ShoulderJoint", acrobot2));
const Joint<double>& acrobot1_joint =
plant.GetJointByName("ShoulderJoint", acrobot1);
const Joint<double>& acrobot2_joint =
plant.GetJointByName("ShoulderJoint", acrobot2);
EXPECT_NE(acrobot1_joint.index(), acrobot2_joint.index());
EXPECT_EQ(acrobot1_joint.model_instance(), acrobot1);
EXPECT_EQ(acrobot2_joint.model_instance(), acrobot2);
DRAKE_EXPECT_THROWS_MESSAGE(
plant.GetJointByName("ShoulderJoint"), std::logic_error,
"Joint ShoulderJoint appears in multiple model instances.");
DRAKE_EXPECT_THROWS_MESSAGE(
plant.HasJointActuatorNamed("ElbowJoint"), std::logic_error,
"Joint actuator ElbowJoint appears in multiple model instances.");
const JointActuator<double>& acrobot1_actuator =
plant.GetJointActuatorByName("ElbowJoint", acrobot1);
const JointActuator<double>& acrobot2_actuator =
plant.GetJointActuatorByName("ElbowJoint", acrobot2);
EXPECT_NE(acrobot1_actuator.index(), acrobot2_actuator.index());
DRAKE_EXPECT_THROWS_MESSAGE(
plant.GetJointActuatorByName("ElbowJoint"), std::logic_error,
"Joint actuator ElbowJoint appears in multiple model instances.");
const Frame<double>& acrobot1_link1_frame =
plant.GetFrameByName("Link1", acrobot1);
const Frame<double>& acrobot2_link1_frame =
plant.GetFrameByName("Link1", acrobot2);
EXPECT_NE(acrobot1_link1_frame.index(), acrobot2_link1_frame.index());
DRAKE_EXPECT_THROWS_MESSAGE(
plant.GetFrameByName("Link1"), std::logic_error,
"Frame Link1 appears in multiple model instances.");
// Check model scope frames.
auto context = plant.CreateDefaultContext();
auto check_frame = [&plant, instance1, &context](
std::string parent_name, std::string name,
const RigidTransformd& X_PF_expected) {
const Frame<double>& frame = plant.GetFrameByName(name, instance1);
const Frame<double>& parent_frame =
plant.GetFrameByName(parent_name, instance1);
const RigidTransformd X_PF = plant.CalcRelativeTransform(
*context, parent_frame, frame);
EXPECT_TRUE(CompareMatrices(
X_PF_expected.GetAsMatrix4(), X_PF.GetAsMatrix4(), kEps))
<< name;
};
const RigidTransformd X_L1F1(
RollPitchYawd(0.4, 0.5, 0.6), Vector3d(0.1, 0.2, 0.3));
check_frame("link1", "model_scope_link1_frame", X_L1F1);
const RigidTransformd X_F1F2(Vector3d(0.1, 0.0, 0.0));
check_frame(
"model_scope_link1_frame", "model_scope_link1_frame_child", X_F1F2);
const RigidTransformd X_MF3(Vector3d(0.7, 0.8, 0.9));
check_frame(
"__model__", "model_scope_model_frame_implicit", X_MF3);
}
struct PlantAndSceneGraph {
std::unique_ptr<MultibodyPlant<double>> plant;
std::unique_ptr<SceneGraph<double>> scene_graph;
};
PlantAndSceneGraph ParseTestString(const std::string& inner,
const std::string& sdf_version = "1.6") {
const std::string filename = temp_directory() + "/test_string.sdf";
std::ofstream file(filename);
file << "<sdf version='" << sdf_version << "'>" << inner << "\n</sdf>\n";
file.close();
PlantAndSceneGraph pair;
pair.plant = std::make_unique<MultibodyPlant<double>>(0.0);
pair.scene_graph = std::make_unique<SceneGraph<double>>();
PackageMap package_map;
pair.plant->RegisterAsSourceForSceneGraph(pair.scene_graph.get());
drake::log()->debug("inner: {}", inner);
AddModelsFromSdfFile(filename, package_map, pair.plant.get());
return pair;
}
GTEST_TEST(SdfParser, EntireInertialTagOmitted) {
// Test that parsing a link with no inertial tag yields the expected result
// (mass = 1, ixx = iyy = izz = 1, ixy = ixz = iyz = 0).
// TODO(avalenzu): Re-visit this if the SDF spec changes to allow for more
// parsimonious specification of massless links. See #13903 for more details.
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='entire_inertial_tag_omitted'>
<link name='entire_inertial_tag_omitted'/>
</model>)""");
const RigidBody<double>* body = dynamic_cast<const RigidBody<double>*>(
&pair.plant->GetBodyByName("entire_inertial_tag_omitted"));
EXPECT_EQ(body->get_default_mass(), 1.);
EXPECT_TRUE(body->default_rotational_inertia().get_moments().isOnes());
EXPECT_TRUE(body->default_rotational_inertia().get_products().isZero());
}
GTEST_TEST(SdfParser, InertiaTagOmitted) {
// Test that parsing a link with no inertia tag yields the expected result
// (mass as specified, ixx = iyy = izz = 1, ixy = ixz = iyz = 0).
// TODO(avalenzu): Re-visit this if the SDF spec changes to allow for more
// parsimonious specification of massless links. See #13903 for more details.
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='inertia_tag_omitted'>
<link name='inertia_tag_omitted'>
<inertial>
<mass>2</mass>
</inertial>
</link>
</model>)""");
const RigidBody<double>* body = dynamic_cast<const RigidBody<double>*>(
&pair.plant->GetBodyByName("inertia_tag_omitted"));
EXPECT_EQ(body->get_default_mass(), 2.);
EXPECT_TRUE(body->default_rotational_inertia().get_moments().isOnes());
EXPECT_TRUE(body->default_rotational_inertia().get_products().isZero());
}
GTEST_TEST(SdfParser, MassTagOmitted) {
// Test that parsing a link with no mass tag yields the expected result
// (mass = 1, inertia as specified).
// TODO(avalenzu): Re-visit this if the SDF spec changes to allow for more
// parsimonious specification of massless links. See #13903 for more details.
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='mass_tag_omitted'>
<link name='mass_tag_omitted'>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0.1</ixy>
<ixz>0.1</ixz>
<iyy>1</iyy>
<iyz>0.1</iyz>
<izz>1</izz>
</inertia>
</inertial>
</link>
</model>)""");
const RigidBody<double>* body = dynamic_cast<const RigidBody<double>*>(
&pair.plant->GetBodyByName("mass_tag_omitted"));
EXPECT_EQ(body->get_default_mass(), 1.);
EXPECT_TRUE(body->default_rotational_inertia().get_moments().isOnes());
EXPECT_EQ(body->default_rotational_inertia().get_products(),
Vector3d::Constant(0.1));
}
GTEST_TEST(SdfParser, MasslessBody) {
// Test that massless bodies can be parsed.
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='has_massless_link'>
<link name='massless_link'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0</iyy>
<iyz>0</iyz>
<izz>0</izz>
</inertia>
</inertial>
</link>
</model>)""");
const RigidBody<double>* body = dynamic_cast<const RigidBody<double>*>(
&pair.plant->GetBodyByName("massless_link"));
EXPECT_EQ(body->get_default_mass(), 0.);
EXPECT_TRUE(body->default_rotational_inertia().get_moments().isZero());
EXPECT_TRUE(body->default_rotational_inertia().get_products().isZero());}
GTEST_TEST(SdfParser, PointMass) {
// Test that point masses don't get sent through the massless body branch.
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='point_mass'>
<link name='point_mass'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0</iyy>
<iyz>0</iyz>
<izz>0</izz>
</inertia>
</inertial>
</link>
</model>)""");
const RigidBody<double>* body = dynamic_cast<const RigidBody<double>*>(
&pair.plant->GetBodyByName("point_mass"));
EXPECT_EQ(body->get_default_mass(), 1.);
EXPECT_TRUE(body->default_rotational_inertia().get_moments().isZero());
EXPECT_TRUE(body->default_rotational_inertia().get_products().isZero());
}
namespace {
void ParseZeroMassNonZeroInertia() {
ParseTestString(R"""(
<model name='bad'>
<link name='bad'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
</link>
</model>)""");
}
} // namespace
GTEST_TEST(SdfParser, ZeroMassNonZeroInertia) {
// Test that attempting to parse links with zero mass and non-zero inertia
// fails.
if (!::drake::kDrakeAssertIsArmed) {
EXPECT_THROW(ParseZeroMassNonZeroInertia(), std::runtime_error);
}
}
GTEST_TEST(SdfParserDeathTest, ZeroMassNonZeroInertia) {
// Test that attempting to parse links with zero mass and non-zero inertia
// fails.
::testing::FLAGS_gtest_death_test_style = "threadsafe";
if (::drake::kDrakeAssertIsArmed) {
EXPECT_DEATH(ParseZeroMassNonZeroInertia(),
".*condition 'mass > 0' failed");
}
}
GTEST_TEST(SdfParser, FloatingBodyPose) {
// Test that floating bodies (links) still have their poses preserved.
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='good'>
<link name='a'>
<pose>1 2 3 0.1 0.2 0.3</pose>
</link>
<link name='b'>
<pose>4 5 6 0.4 0.5 0.6</pose>
</link>
</model>)""");
pair.plant->Finalize();
EXPECT_GT(pair.plant->num_positions(), 0);
auto context = pair.plant->CreateDefaultContext();
const RigidTransformd X_WA_expected(
RollPitchYawd(0.1, 0.2, 0.3), Vector3d(1, 2, 3));
const RigidTransformd X_WA =
pair.plant->GetFrameByName("a").CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(
X_WA_expected.GetAsMatrix4(), X_WA.GetAsMatrix4(), kEps));
const RigidTransformd X_WB_expected(
RollPitchYawd(0.4, 0.5, 0.6), Vector3d(4, 5, 6));
const RigidTransformd X_WB =
pair.plant->GetFrameByName("b").CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(
X_WB_expected.GetAsMatrix4(), X_WB.GetAsMatrix4(), kEps));
}
GTEST_TEST(SdfParser, StaticModelSupported) {
// Test that static models are partially supported.
{
SCOPED_TRACE("Test that static models are partially supported");
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='good'>
<static>true</static>
<link name='a'>
<pose>1 2 3 0.1 0.2 0.3</pose>
</link>
<link name='b'>
<pose>4 5 6 0.4 0.5 0.6</pose>
</link>
</model>)""");
pair.plant->Finalize();
EXPECT_EQ(pair.plant->num_positions(), 0);
auto context = pair.plant->CreateDefaultContext();
const RigidTransformd X_WA_expected(
RollPitchYawd(0.1, 0.2, 0.3), Vector3d(1, 2, 3));
const RigidTransformd X_WA =
pair.plant->GetFrameByName("a").CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(
X_WA_expected.GetAsMatrix4(), X_WA.GetAsMatrix4(), kEps));
const RigidTransformd X_WB_expected(
RollPitchYawd(0.4, 0.5, 0.6), Vector3d(4, 5, 6));
const RigidTransformd X_WB =
pair.plant->GetFrameByName("b").CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(
X_WB_expected.GetAsMatrix4(), X_WB.GetAsMatrix4(), kEps));
}
{
// Verify that static models don't need to have a canonical link. The model
// frame should be attached to the world frame.
SCOPED_TRACE(
"Verify that static models don't need to have a canonical link");
PlantAndSceneGraph pair;
DRAKE_ASSERT_NO_THROW(pair = ParseTestString(R"""(
<model name='a'>
<pose>1 2 3 0.1 0.2 0.3</pose>
<static>true</static>
</model>)""", "1.8"));
pair.plant->Finalize();
auto context = pair.plant->CreateDefaultContext();
const RigidTransformd X_WA_expected(
RollPitchYawd(0.1, 0.2, 0.3), Vector3d(1, 2, 3));
const auto &frame_A = pair.plant->GetFrameByName("a");
const RigidTransformd X_WA = frame_A.CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(
X_WA_expected.GetAsMatrix4(), X_WA.GetAsMatrix4(), kEps));
EXPECT_EQ(frame_A.body().node_index(),
pair.plant->world_body().node_index());
}
{
// Verify that models that contain static models don't need a link
SCOPED_TRACE(
"Verify that models that contain static models don't need a link");
PlantAndSceneGraph pair;
DRAKE_EXPECT_NO_THROW(pair = ParseTestString(R"""(
<model name='a'>
<pose>1 2 3 0.0 0.0 0.3</pose>
<model name='b'>
<pose>0 0 0 0.1 0.2 0.0</pose>
<static>true</static>
</model>
</model>)""", "1.8"));
pair.plant->Finalize();
auto context = pair.plant->CreateDefaultContext();
const RigidTransformd X_WA_expected(
RollPitchYawd(0.0, 0.0, 0.3), Vector3d(1, 2, 3));
const auto &frame_A = pair.plant->GetFrameByName("a");
const RigidTransformd X_WA = frame_A.CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(
X_WA_expected.GetAsMatrix4(), X_WA.GetAsMatrix4(), kEps));
EXPECT_EQ(frame_A.body().node_index(),
pair.plant->world_body().node_index());
const RigidTransformd X_WB_expected(
RollPitchYawd(0.1, 0.2, 0.3), Vector3d(1, 2, 3));
const auto &frame_B = pair.plant->GetFrameByName("b");
const RigidTransformd X_WB = frame_B.CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(
X_WB_expected.GetAsMatrix4(), X_WB.GetAsMatrix4(), kEps));
EXPECT_EQ(frame_B.body().node_index(),
pair.plant->world_body().node_index());
}
}
GTEST_TEST(SdfParser, StaticFrameOnlyModelsSupported) {
// Verify that static models can contain just frames
PlantAndSceneGraph pair;
DRAKE_EXPECT_NO_THROW(pair = ParseTestString(R"""(
<model name='a'>
<static>true</static>
<pose>1 0 0 0 0 0</pose>
<frame name='b'>
<pose>0 2 0 0 0 0</pose>
</frame>
<frame name='c' attached_to='b'>
<pose>0 0 3 0 0 0</pose>
</frame>
<frame name='d'>
<pose relative_to='c'>0 0 0 0 0 0.3</pose>
</frame>
</model>)""", "1.8"));
pair.plant->Finalize();
auto context = pair.plant->CreateDefaultContext();
auto test_frame = [&](const std::string& frame_name,
const RigidTransformd& X_WF_expected) {
const auto& frame = pair.plant->GetFrameByName(frame_name);
const RigidTransformd X_WF = frame.CalcPoseInWorld(*context);
EXPECT_TRUE(CompareMatrices(X_WF_expected.GetAsMatrix4(),
X_WF.GetAsMatrix4(), kEps));
EXPECT_EQ(frame.body().node_index(),
pair.plant->world_body().node_index());
};
test_frame("a", {RollPitchYawd(0.0, 0.0, 0.0), Vector3d(1, 0, 0)});
test_frame("b", {RollPitchYawd(0.0, 0.0, 0.0), Vector3d(1, 2, 0)});
test_frame("c", {RollPitchYawd(0.0, 0.0, 0.0), Vector3d(1, 2, 3)});
test_frame("d", {RollPitchYawd(0.0, 0.0, 0.3), Vector3d(1, 2, 3)});
}
GTEST_TEST(SdfParser, StaticModelWithJoints) {
// Specifying redundant welds in the model yields no errors, either to the
// world or between links.
DRAKE_EXPECT_NO_THROW(ParseTestString(R"""(
<model name='good'>
<static>true</static>
<link name='a'/>
<joint name='a_weld' type='fixed'>
<parent>world</parent>
<child>a</child>
</joint>
<link name='b'/>
<joint name='b_weld' type='fixed'>
<parent>a</parent>
<child>b</child>
</joint>
</model>)"""));
// Attempting to weld should fail fast, either during the welding or when
// finalizing (due to loop).
PlantAndSceneGraph pair = ParseTestString(R"""(
<model name='bad'>
<static>true</static>
<link name='a'/>
</model>
)""");
auto weld_and_finalize = [&pair]() {
pair.plant->WeldFrames(
pair.plant->world_frame(), pair.plant->GetFrameByName("a"));
pair.plant->Finalize();
};
// The message contains the elaborate joint name inserted by the parser.
DRAKE_EXPECT_THROWS_MESSAGE(
weld_and_finalize(), std::runtime_error,
".*sdformat_model_static.*");
// Drake does not support "frozen" joints (#12227).
DRAKE_EXPECT_THROWS_MESSAGE(
ParseTestString(R"""(
<model name='good'>
<static>true</static>
<link name='a'/>
<link name='b'/>
<joint name='my_hinge' type='revolute'>
<parent>a</parent>
<child>b</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>)"""),
std::runtime_error,
"Only fixed joints are permitted in static models.");
}
// Verify that our SDF parser throws an exception when a user specifies a joint
// with negative damping.
GTEST_TEST(SdfParserThrowsWhen, JointDampingIsNegative) {
const std::string sdf_file_path = FindResourceOrThrow(
"drake/multibody/parsing/test/sdf_parser_test/"
"negative_damping_joint.sdf");
PackageMap package_map;
package_map.PopulateUpstreamToDrake(sdf_file_path);
MultibodyPlant<double> plant(0.0);
DRAKE_EXPECT_THROWS_MESSAGE(
AddModelFromSdfFile(sdf_file_path, "", package_map, &plant),
std::runtime_error,
/* Verify this method is throwing for the right reasons. */
"Joint damping is negative for joint '.*'. "
"Joint damping must be a non-negative number.");
}
GTEST_TEST(SdfParser, IncludeTags) {
const std::string full_name = FindResourceOrThrow(
"drake/multibody/parsing/test/sdf_parser_test/"
"include_models.sdf");
sdf::addURIPath("model://", filesystem::path(full_name).parent_path());
MultibodyPlant<double> plant(0.0);
// We start with the world and default model instances.
ASSERT_EQ(plant.num_model_instances(), 2);
ASSERT_EQ(plant.num_bodies(), 1);
ASSERT_EQ(plant.num_joints(), 0);
PackageMap package_map;
package_map.PopulateUpstreamToDrake(full_name);
AddModelsFromSdfFile(full_name, package_map, &plant);
plant.Finalize();
// We should have loaded 5 more models.
EXPECT_EQ(plant.num_model_instances(), 7);
// The models should have added 8 more bodies.
EXPECT_EQ(plant.num_bodies(), 9);
// The models should have added 5 more joints.
EXPECT_EQ(plant.num_joints(), 5);
// There should be a model instance with the name "robot1".
ASSERT_TRUE(plant.HasModelInstanceNamed("robot1"));
ModelInstanceIndex robot1_model = plant.GetModelInstanceByName("robot1");
// There should be a body with the name "base_link".
EXPECT_TRUE(plant.HasBodyNamed("base_link", robot1_model));
// There should be another body with the name "moving_link".
EXPECT_TRUE(plant.HasBodyNamed("moving_link", robot1_model));
// There should be joint with the name "slider".
EXPECT_TRUE(plant.HasJointNamed("slider", robot1_model));
// There should be a model instance with the name "robot2".
ASSERT_TRUE(plant.HasModelInstanceNamed("robot2"));
ModelInstanceIndex robot2_model = plant.GetModelInstanceByName("robot2");
// There should be a body with the name "base_link".
EXPECT_TRUE(plant.HasBodyNamed("base_link", robot2_model));
// There should be another body with the name "moving_link".
EXPECT_TRUE(plant.HasBodyNamed("moving_link", robot2_model));
// There should be joint with the name "slider".
EXPECT_TRUE(plant.HasJointNamed("slider", robot2_model));
// There should be a model instance with the name "weld_robots".
EXPECT_TRUE(plant.HasModelInstanceNamed("weld_models"));
ASSERT_TRUE(plant.HasModelInstanceNamed("weld_models::robot1"));
ModelInstanceIndex weld_model_robot1_model =
plant.GetModelInstanceByName("weld_models::robot1");
ASSERT_TRUE(plant.HasModelInstanceNamed("weld_models::robot2"));
ModelInstanceIndex weld_model_robot2_model =
plant.GetModelInstanceByName("weld_models::robot2");
// There should be all the bodies and joints contained in "simple_robot1"
// which is inside "weld_models"
EXPECT_TRUE(plant.HasBodyNamed("base_link", weld_model_robot1_model));
EXPECT_TRUE(plant.HasBodyNamed("moving_link", weld_model_robot1_model));
EXPECT_TRUE(plant.HasJointNamed("slider", weld_model_robot1_model));
// There should be all the bodies and joints contained in "simple_robot2"
// which is inside "weld_models"
EXPECT_TRUE(plant.HasBodyNamed("base_link", weld_model_robot2_model));
EXPECT_TRUE(plant.HasBodyNamed("moving_link", weld_model_robot2_model));
EXPECT_TRUE(plant.HasJointNamed("slider", weld_model_robot2_model));
// There should be a joint named "weld_robots". By convention, the joint
// will have the same model instance as the child frame.
EXPECT_TRUE(plant.HasJointNamed("weld_robots", weld_model_robot2_model));
}
GTEST_TEST(SdfParser, TestOptionalSceneGraph) {
const std::string full_name = FindResourceOrThrow(
"drake/multibody/parsing/test/"
"links_with_visuals_and_collisions.sdf");
PackageMap package_map;
package_map.PopulateUpstreamToDrake(full_name);
int num_visuals_explicit{};
{
// Test explicitly specifying `scene_graph`.
MultibodyPlant<double> plant(0.0);
SceneGraph<double> scene_graph;
AddModelsFromSdfFile(full_name, package_map, &plant, &scene_graph);
plant.Finalize();
num_visuals_explicit = plant.num_visual_geometries();
}
EXPECT_NE(num_visuals_explicit, 0);
{
// Test implicitly specifying.
MultibodyPlant<double> plant(0.0);
SceneGraph<double> scene_graph;
plant.RegisterAsSourceForSceneGraph(&scene_graph);
AddModelsFromSdfFile(full_name, package_map, &plant);
plant.Finalize();
EXPECT_EQ(plant.num_visual_geometries(), num_visuals_explicit);
}
}
// Verifies that the SDF loader can leverage a specified package map.
GTEST_TEST(MultibodyPlantSdfParserTest, JointParsingTest) {
MultibodyPlant<double> plant(0.0);
geometry::SceneGraph<double> scene_graph;
const std::string full_name = FindResourceOrThrow(
"drake/multibody/parsing/test/sdf_parser_test/"
"joint_parsing_test.sdf");
PackageMap package_map;
package_map.PopulateUpstreamToDrake(full_name);
// Read in the SDF file.
AddModelFromSdfFile(full_name, "", package_map, &plant, &scene_graph);
plant.Finalize();
// Revolute joint
DRAKE_EXPECT_NO_THROW(
plant.GetJointByName<RevoluteJoint>("revolute_joint"));
const RevoluteJoint<double>& revolute_joint =
plant.GetJointByName<RevoluteJoint>("revolute_joint");
EXPECT_EQ(revolute_joint.name(), "revolute_joint");
EXPECT_EQ(revolute_joint.parent_body().name(), "link1");
EXPECT_EQ(revolute_joint.child_body().name(), "link2");
EXPECT_EQ(revolute_joint.revolute_axis(), Vector3d::UnitZ());
EXPECT_EQ(revolute_joint.damping(), 0.2);
EXPECT_TRUE(CompareMatrices(
revolute_joint.position_lower_limits(), Vector1d(-1)));
EXPECT_TRUE(CompareMatrices(
revolute_joint.position_upper_limits(), Vector1d(2)));
EXPECT_TRUE(CompareMatrices(
revolute_joint.velocity_lower_limits(), Vector1d(-100)));
EXPECT_TRUE(CompareMatrices(
revolute_joint.velocity_upper_limits(), Vector1d(100)));
// Prismatic joint
DRAKE_EXPECT_NO_THROW(
plant.GetJointByName<PrismaticJoint>("prismatic_joint"));
const PrismaticJoint<double>& prismatic_joint =
plant.GetJointByName<PrismaticJoint>("prismatic_joint");
EXPECT_EQ(prismatic_joint.name(), "prismatic_joint");
EXPECT_EQ(prismatic_joint.parent_body().name(), "link2");
EXPECT_EQ(prismatic_joint.child_body().name(), "link3");
EXPECT_EQ(prismatic_joint.translation_axis(), Vector3d::UnitZ());
EXPECT_EQ(prismatic_joint.damping(), 0.3);
EXPECT_TRUE(CompareMatrices(
prismatic_joint.position_lower_limits(), Vector1d(-2)));
EXPECT_TRUE(CompareMatrices(
prismatic_joint.position_upper_limits(), Vector1d(1)));
EXPECT_TRUE(CompareMatrices(
prismatic_joint.velocity_lower_limits(), Vector1d(-5)));
EXPECT_TRUE(CompareMatrices(
prismatic_joint.velocity_upper_limits(), Vector1d(5)));
// Limitless revolute joint
DRAKE_EXPECT_NO_THROW(
plant.GetJointByName<RevoluteJoint>("revolute_joint_no_limits"));
const RevoluteJoint<double>& no_limit_joint =
plant.GetJointByName<RevoluteJoint>("revolute_joint_no_limits");
EXPECT_EQ(no_limit_joint.name(), "revolute_joint_no_limits");
EXPECT_EQ(no_limit_joint.parent_body().name(), "link3");
EXPECT_EQ(no_limit_joint.child_body().name(), "link4");
EXPECT_EQ(no_limit_joint.revolute_axis(), Vector3d::UnitZ());
const Vector1d inf(std::numeric_limits<double>::infinity());
const Vector1d neg_inf(-std::numeric_limits<double>::infinity());
EXPECT_TRUE(CompareMatrices(no_limit_joint.position_lower_limits(), neg_inf));
EXPECT_TRUE(CompareMatrices(no_limit_joint.position_upper_limits(), inf));
EXPECT_TRUE(CompareMatrices(no_limit_joint.velocity_lower_limits(), neg_inf));
EXPECT_TRUE(CompareMatrices(no_limit_joint.velocity_upper_limits(), inf));
// Ball joint
DRAKE_EXPECT_NO_THROW(plant.GetJointByName<BallRpyJoint>("ball_joint"));
const BallRpyJoint<double>& ball_joint =
plant.GetJointByName<BallRpyJoint>("ball_joint");
EXPECT_EQ(ball_joint.name(), "ball_joint");
EXPECT_EQ(ball_joint.parent_body().name(), "link4");
EXPECT_EQ(ball_joint.child_body().name(), "link5");
EXPECT_EQ(ball_joint.damping(), 0.1);
const Vector3d inf3(std::numeric_limits<double>::infinity(),
std::numeric_limits<double>::infinity(),
std::numeric_limits<double>::infinity());
const Vector3d neg_inf3(-std::numeric_limits<double>::infinity(),
-std::numeric_limits<double>::infinity(),
-std::numeric_limits<double>::infinity());
EXPECT_TRUE(CompareMatrices(ball_joint.position_lower_limits(), neg_inf3));
EXPECT_TRUE(CompareMatrices(ball_joint.position_upper_limits(), inf3));
EXPECT_TRUE(CompareMatrices(ball_joint.velocity_lower_limits(), neg_inf3));
EXPECT_TRUE(CompareMatrices(ball_joint.velocity_upper_limits(), inf3));
// Universal joint
DRAKE_EXPECT_NO_THROW(
plant.GetJointByName<UniversalJoint>("universal_joint"));
const UniversalJoint<double>& universal_joint =
plant.GetJointByName<UniversalJoint>("universal_joint");
EXPECT_EQ(universal_joint.name(), "universal_joint");
EXPECT_EQ(universal_joint.parent_body().name(), "link5");
EXPECT_EQ(universal_joint.child_body().name(), "link6");
EXPECT_EQ(universal_joint.damping(), 0.1);
const Vector2d inf2(std::numeric_limits<double>::infinity(),
std::numeric_limits<double>::infinity());
const Vector2d neg_inf2(-std::numeric_limits<double>::infinity(),
-std::numeric_limits<double>::infinity());
EXPECT_TRUE(CompareMatrices(universal_joint.position_lower_limits(),
neg_inf2));
EXPECT_TRUE(CompareMatrices(universal_joint.position_upper_limits(), inf2));
EXPECT_TRUE(CompareMatrices(universal_joint.velocity_lower_limits(),
neg_inf2));
EXPECT_TRUE(CompareMatrices(universal_joint.velocity_upper_limits(), inf2));
// Planar joint
DRAKE_EXPECT_NO_THROW(plant.GetJointByName<PlanarJoint>("planar_joint"));
const PlanarJoint<double>& planar_joint =
plant.GetJointByName<PlanarJoint>("planar_joint");
EXPECT_EQ(planar_joint.name(), "planar_joint");
EXPECT_EQ(planar_joint.parent_body().name(), "link6");
EXPECT_EQ(planar_joint.child_body().name(), "link7");
EXPECT_TRUE(CompareMatrices(planar_joint.damping(), Vector3d::Constant(0.1)));
EXPECT_TRUE(CompareMatrices(planar_joint.position_lower_limits(), neg_inf3));
EXPECT_TRUE(CompareMatrices(planar_joint.position_upper_limits(), inf3));
EXPECT_TRUE(CompareMatrices(planar_joint.velocity_lower_limits(), neg_inf3));
EXPECT_TRUE(CompareMatrices(planar_joint.velocity_upper_limits(), inf3));
}
// Verifies that the SDF parser parses the joint actuator limit correctly.
GTEST_TEST(MultibodyPlantSdfParserTest, JointActuatorParsingTest) {
MultibodyPlant<double> plant(0.0);
const std::string full_name = FindResourceOrThrow(
"drake/multibody/parsing/test/sdf_parser_test/"
"joint_actuator_parsing_test.sdf");
PackageMap package_map;
package_map.PopulateUpstreamToDrake(full_name);
// Read in the SDF file.
AddModelFromSdfFile(full_name, "", package_map, &plant, nullptr);
plant.Finalize();
// In SDF, effort limits are specified in <joint><axis><limit><effort>,
// which is the reason we read the joint actuator using the joint name.
// Test the joint actuator with a positive effort limit.
const auto& limited_joint_actuator =
plant.GetJointActuatorByName("revolute_joint_positive_limit");
EXPECT_EQ(limited_joint_actuator.effort_limit(), 100);
// Test the joint actuator with the effort limit set to negative value,
// which will be treated as no limit per the SDF standard.
constexpr double kInf = std::numeric_limits<double>::infinity();
const auto& no_limit_joint_actuator =
plant.GetJointActuatorByName("revolute_joint_no_limit");
EXPECT_TRUE(no_limit_joint_actuator.effort_limit() == kInf);
// Test the joint actuator with the effort limit set to 0, which means no
// actuation.
DRAKE_EXPECT_THROWS_MESSAGE(
plant.GetJointActuatorByName("prismatic_joint_zero_limit"),
std::logic_error, "There is no joint actuator named '.*' in the model.");
}
// Verifies that the SDF parser parses the revolute spring parameters correctly.
GTEST_TEST(MultibodyPlantSdfParserTest, RevoluteSpringParsingTest) {
MultibodyPlant<double> plant(0.0);
const std::string full_name = FindResourceOrThrow(
"drake/multibody/parsing/test/sdf_parser_test/"
"revolute_spring_parsing_test.sdf");
PackageMap package_map;
package_map.PopulateUpstreamToDrake(full_name);
// Reads in the SDF file.
AddModelFromSdfFile(full_name, "", package_map, &plant, nullptr);
plant.Finalize();
// Plant should have a UniformGravityFieldElement by default.
// Our test contains two joints that have nonzero stiffness
// and two joints that have zero stiffness. We only add a
// spring for nonzero stiffness, so only two spring forces
// should have been added.
constexpr int kNumSpringForces = 2;
DRAKE_DEMAND(plant.num_force_elements() == kNumSpringForces + 1);
// In these two tests, we verify that the generalized forces are
// correct for both springs. The first spring has a nonzero reference
// of 1.0 radians so should have nonzero torque. The second spring
// has a zero reference, so it should have no applied torque.
MultibodyForces<double> forces(plant);
auto context = plant.CreateDefaultContext();
constexpr int kGeneralizedForcesSize = 10;
Matrix2X<double> expected_generalized_forces(kNumSpringForces,
kGeneralizedForcesSize);
expected_generalized_forces << 0, 0, 0, 0, 0, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0;
for (int i = 0; i < kNumSpringForces; ++i) {
// The ForceElement at index zero is gravity, so we skip that index.
const ForceElementIndex force_index(i + 1);
const auto& nonzero_reference = plant.GetForceElement(force_index);
forces.SetZero();
nonzero_reference.CalcAndAddForceContribution(
*context, plant.EvalPositionKinematics(*context),
plant.EvalVelocityKinematics(*context), &forces);
const VectorX<double>& generalized_forces = forces.generalized_forces();
EXPECT_TRUE(CompareMatrices(generalized_forces,
expected_generalized_forces.row(i).transpose(),
kEps, MatrixCompareType::relative));
}
}
GTEST_TEST(SdfParser, TestSupportedFrames) {
// Test `//link/pose[@relative_to]`.
ParseTestString(R"(
<model name='good'>
<frame name='my_frame'/>
<link name='my_link'>
<pose relative_to='my_frame'/>
</link>
</model>
)");
// Test `//link/visual/pose[@relative_to]`.
ParseTestString(R"(
<model name='good'>
<frame name='my_frame'/>
<link name='my_link'>
<visual name='my_visual'>
<pose relative_to='my_frame'/>
</visual>
</link>
</model>
)");
// Test `//link/collision/pose[@relative_to]`.
ParseTestString(R"(
<model name='good'>
<frame name='my_frame'/>
<link name='my_link'>
<collision name='my_collision'>
<pose relative_to='my_frame'/>
</collision>
</link>
</model>
)");
// Test `//joint/pose[@relative_to]`.