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Respect joint axes' initial_position #2827

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Respect joint axes' initial_position #2827

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cfa1476
Test if model states load the joint states
stefanbuettner Jan 7, 2021
29111d9
Fix joint state loading
stefanbuettner Jan 7, 2021
b9d93b1
Test if joint state is loaded for a model
stefanbuettner Jan 7, 2021
0b903d6
Apply the loaded joint state
stefanbuettner Jan 8, 2021
f1a2587
Test the initial_position of a joint axis
stefanbuettner Jan 9, 2021
5b6c825
Respect joint axes' initial_position
stefanbuettner Jan 9, 2021
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46 changes: 38 additions & 8 deletions gazebo/physics/Model.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -269,6 +269,29 @@ void Model::LoadJoints()
}
}

void SetInitialPositionForAxis(JointPtr const& joint, unsigned int axisIdx, std::string const& axisElementName)
{
sdf::ElementPtr const jointSdf = joint->GetSDF();
if (joint->DOF() <= axisIdx || !jointSdf->HasElement(axisElementName))
return;

sdf::ElementPtr const axisElem = jointSdf->GetElement(axisElementName);
if (axisElem->HasElement("initial_position"))
{
double const initial_position = axisElem->Get<double>("initial_position");
if (!joint->SetPosition(axisIdx, initial_position))
{
gzerr << "Failed to set initial position " << initial_position << " for joint " << joint->GetScopedName() << std::endl;
}
}
}

void SetInitialPosition(JointPtr const& joint)
{
SetInitialPositionForAxis(joint, 0, "axis");
SetInitialPositionForAxis(joint, 1, "axis2");
}

//////////////////////////////////////////////////
void Model::Init()
{
Expand Down Expand Up @@ -314,6 +337,13 @@ void Model::Init()
this->jointPub->Publish(msg);
}

// This needs to be done after the whole kinematic chain has been initialized.
// Doing this in the joint's Init method completely messes up the setup.
for (auto& joint : this->joints)
{
SetInitialPosition(joint);
}

for (std::vector<GripperPtr>::iterator iter = this->grippers.begin();
iter != this->grippers.end(); ++iter)
{
Expand Down Expand Up @@ -1350,14 +1380,14 @@ void Model::SetState(const ModelState &_state)
gzerr << "Unable to find model[" << ms.first << "]\n";
}

// For now we don't use the joint state values to set the state of
// simulation.
// for (unsigned int i = 0; i < _state.GetJointStateCount(); ++i)
// {
// JointState jointState = _state.GetJointState(i);
// this->SetJointPosition(this->GetName() + "::" + jointState.GetName(),
// jointState.GetAngle(0).Radian());
// }
for (unsigned int i = 0; i < _state.GetJointStateCount(); ++i)
{
JointState const jointState = _state.GetJointState(i);
for (unsigned int k = 0; k < jointState.GetAngleCount(); ++k) {
this->SetJointPosition(this->GetName() + "::" + jointState.GetName(),
jointState.Position(k), k);
}
}
}

/////////////////////////////////////////////////
Expand Down
4 changes: 2 additions & 2 deletions gazebo/physics/ModelState.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ void ModelState::Load(const sdf::ElementPtr _elem)
}

// Set all the joints
/*this->jointStates.clear();
this->jointStates.clear();
if (_elem->HasElement("joint"))
{
sdf::ElementPtr childElem = _elem->GetElement("joint");
Expand All @@ -215,7 +215,7 @@ void ModelState::Load(const sdf::ElementPtr _elem)
JointState(childElem)));
childElem = childElem->GetNextElement("joint");
}
}*/
}
}

/////////////////////////////////////////////////
Expand Down
35 changes: 35 additions & 0 deletions gazebo/physics/ModelState_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,41 @@ TEST_F(ModelStateTest, Nested)
}
}

TEST_F(ModelStateTest, JointState)
{
std::ostringstream sdfStr;
sdfStr << "<sdf version ='" << SDF_VERSION << "'>"
<< "<world name='default'>"
<< "<state world_name='default'>"
<< "<model name='model_00'>"
<< " <joint name='joint_00'>"
<< " <angle axis='0'>1.57</angle>"
<< " </joint>"
<< "</model>"
<< "</state>"
<< "</world>"
<< "</sdf>";
sdf::SDFPtr worldSDF(new sdf::SDF);
worldSDF->SetFromString(sdfStr.str());
EXPECT_TRUE(worldSDF->Root()->HasElement("world"));
sdf::ElementPtr worldElem = worldSDF->Root()->GetElement("world");
EXPECT_TRUE(worldElem->HasElement("state"));
sdf::ElementPtr stateElem = worldElem->GetElement("state");
EXPECT_TRUE(stateElem->HasElement("model"));
sdf::ElementPtr modelElem = stateElem->GetElement("model");
EXPECT_TRUE(modelElem != nullptr);

physics::ModelState const modelState(modelElem);

ASSERT_EQ(modelState.GetJointStateCount(), 1u);

physics::JointState const jointState = modelState.GetJointState(0);
EXPECT_EQ(1u, jointState.GetAngleCount());
EXPECT_EQ(1u, jointState.Positions().size());
EXPECT_DOUBLE_EQ(1.57, jointState.Position(0));
EXPECT_TRUE(ignition::math::isnan(jointState.Position(1)));
}

int main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
Expand Down
28 changes: 28 additions & 0 deletions test/integration/model.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,34 @@ TEST_F(ModelTest, GetLinksV)
EXPECT_EQ(model->GetLinks().size(), 1u);
}

TEST_F(ModelTest, LoadJointState)
{
Load("worlds/joint_state_test.world");
physics::ModelPtr const model = GetModel("model_3");

ASSERT_EQ(model->GetJointCount(), 2u);

physics::JointPtr const joint_1 = model->GetJoint("joint_1");
EXPECT_NEAR(joint_1->Position(), 0.7854, 0.0001);

physics::JointPtr const joint_2 = model->GetJoint("joint_2");
EXPECT_NEAR(joint_2->Position(), 0.7854, 0.0001);
}

TEST_F(ModelTest, JointInitialPosition)
{
Load("worlds/joint_test.world");
physics::ModelPtr const model = GetModel("model_3");

ASSERT_EQ(model->GetJointCount(), 2u);

physics::JointPtr const joint_1 = model->GetJoint("joint_1");
EXPECT_NEAR(joint_1->Position(), 0.7854, 0.0001);

physics::JointPtr const joint_2 = model->GetJoint("joint_2");
EXPECT_NEAR(joint_2->Position(), 1.5707, 0.0001);
}

/////////////////////////////////////////////////
// This tests getting the scoped name of a model.
TEST_F(ModelTest, GetScopedName)
Expand Down
57 changes: 57 additions & 0 deletions test/worlds/joint_state_test.world
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Original file line number Diff line number Diff line change
@@ -0,0 +1,57 @@
<?xml version="1.0" ?>
<sdf version="1.7">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<model name="model_3">
<pose>0 0 0 0 0 0</pose>
<link name="link_1">
<visual name="link_1_box">
<pose>0 0.5 0 0 0 0</pose>
<geometry>
<box>
<size>0.125 0.95 0.125</size>
</box>
</geometry>
</visual>
</link>
<link name="link_2">
<visual name="link_2_visual">
<pose>0 1.5 0 0 0 0</pose>
<geometry>
<box>
<size>0.125 0.95 0.125</size>
</box>
</geometry>
</visual>
</link>
<joint name="joint_1" type="revolute">
<parent>world</parent>
<child>link_1</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="joint_2" type="revolute">
<parent>link_1</parent>
<child>link_2</child>
<axis>
<xyz>0 0 1</xyz>
</axis>
<pose>0 1 0 0 0 0</pose>
</joint>
</model>
<state world_name="default">
<model name="model_3">
<joint name="joint_1">
<angle axis=0>0.7854</angle>
</joint>
<joint name="joint_2">
<angle axis=0>0.7854</angle>
</joint>
</model>
</state>
</world>
</sdf>
40 changes: 40 additions & 0 deletions test/worlds/joint_test.world
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Original file line number Diff line number Diff line change
Expand Up @@ -141,5 +141,45 @@
</joint>
<static>0</static>
</model>
<model name="model_3">
<pose>0 2 0 0 0 0</pose>
<link name="link_1">
<visual name="link_1_box">
<pose>0 0.5 0 0 0 0</pose>
<geometry>
<box>
<size>0.125 0.95 0.125</size>
</box>
</geometry>
</visual>
</link>
<link name="link_2">
<visual name="link_2_visual">
<pose>0 1.5 0 0 0 0</pose>
<geometry>
<box>
<size>0.125 0.95 0.125</size>
</box>
</geometry>
</visual>
</link>
<joint name="joint_1" type="revolute">
<parent>world</parent>
<child>link_1</child>
<axis>
<xyz>0 0 1</xyz>
<initial_position>0.7854</initial_position>
</axis>
</joint>
<joint name="joint_2" type="revolute">
<parent>link_1</parent>
<child>link_2</child>
<axis>
<xyz>0 0 1</xyz>
<initial_position>1.5707</initial_position>
</axis>
<pose>0 1 0 0 0 0</pose>
</joint>
</model>
</world>
</sdf>