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Add tests showing problems with conversion
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The Converter currently only acts on the first child
element it finds; it doesn't act on all sibling elements.
I've added example SDFormat files and tests to illustrate
the issue.

Signed-off-by: Steve Peters <[email protected]>
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@scpeters
scpeters committed Mar 1, 2024
1 parent dd2054f commit e9de659
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Showing 3 changed files with 265 additions and 0 deletions.
96 changes: 96 additions & 0 deletions test/integration/nested_model.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -243,6 +243,102 @@ TEST(NestedModel, State)
gz::math::Pose3d(0, 0, 0, 0, 0, 0));
}

////////////////////////////////////////
// Test parsing nested model states
TEST(NestedModel, StateSiblingsConversion1_12)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "state_nested_model_world.sdf");

// Load the SDF file
sdf::Root root;
auto errors = root.Load(testFile);
EXPECT_TRUE(errors.empty());

// load the state sdf
EXPECT_TRUE(root.Element()->HasElement("world"));
sdf::ElementPtr worldElem = root.Element()->GetElement("world");

// Confirm that regular model elements were not migrated
EXPECT_FALSE(worldElem->HasElement("model_state"));

// Confirm that model and link elements in state were converted to
// model_state and link_state
EXPECT_TRUE(worldElem->HasElement("state"));
sdf::ElementPtr stateElem = worldElem->GetElement("state");
EXPECT_TRUE(stateElem->HasElement("model_state"))
<< stateElem->ToString("");
EXPECT_FALSE(stateElem->HasElement("model"))
<< stateElem->ToString("");

// model sdf
sdf::ElementPtr modelStateElem = stateElem->GetElement("model_state");
EXPECT_TRUE(modelStateElem->HasAttribute("name"));
EXPECT_EQ(modelStateElem->Get<std::string>("name"), "top_level_model");
EXPECT_TRUE(modelStateElem->HasElement("link_state"))
<< modelStateElem->ToString("");
EXPECT_TRUE(modelStateElem->HasElement("model_state"))
<< modelStateElem->ToString("");
EXPECT_FALSE(modelStateElem->HasElement("link"))
<< modelStateElem->ToString("");
EXPECT_FALSE(modelStateElem->HasElement("model"))
<< modelStateElem->ToString("");
}

////////////////////////////////////////
// Test parsing nested model states
TEST(NestedModel, StateInsertionsConversion1_12)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "state_nested_model_world_insertion.sdf");

// Load the SDF file
sdf::Root root;
auto errors = root.Load(testFile);
EXPECT_TRUE(errors.empty());

// load the state sdf
EXPECT_TRUE(root.Element()->HasElement("world"));
sdf::ElementPtr worldElem = root.Element()->GetElement("world");

// Confirm that regular model elements were not migrated
EXPECT_FALSE(worldElem->HasElement("model_state"));

// Confirm that model and link elements in state were converted to
// model_state and link_state
EXPECT_TRUE(worldElem->HasElement("state"));
sdf::ElementPtr stateElem = worldElem->GetElement("state");
EXPECT_TRUE(stateElem->HasElement("model_state"))
<< stateElem->ToString("");
EXPECT_FALSE(stateElem->HasElement("model"))
<< stateElem->ToString("");

// model sdf
sdf::ElementPtr modelStateElem = stateElem->GetElement("model_state");
EXPECT_TRUE(modelStateElem->HasAttribute("name"));
EXPECT_EQ(modelStateElem->Get<std::string>("name"), "top_level_model");
EXPECT_TRUE(modelStateElem->HasElement("link_state"))
<< modelStateElem->ToString("");
EXPECT_TRUE(modelStateElem->HasElement("model_state"))
<< modelStateElem->ToString("");
EXPECT_FALSE(modelStateElem->HasElement("link"))
<< modelStateElem->ToString("");
EXPECT_FALSE(modelStateElem->HasElement("model"))
<< modelStateElem->ToString("");

// insertions
EXPECT_TRUE(stateElem->HasElement("insertions"));
sdf::ElementPtr insertionsElem = stateElem->GetElement("insertions");
// confirm that //insertions/model and link tags were not converted
EXPECT_FALSE(insertionsElem->HasElement("model_state"));
EXPECT_TRUE(insertionsElem->HasElement("model"));
sdf::ElementPtr insertedModelElem = insertionsElem->GetElement("model");
EXPECT_TRUE(insertedModelElem->HasAttribute("name"));
EXPECT_EQ(insertedModelElem->Get<std::string>("name"), "unit_box");
EXPECT_FALSE(insertedModelElem->HasElement("link_state"));
EXPECT_TRUE(insertedModelElem->HasElement("link"));
}

////////////////////////////////////////
// Test parsing models with joints nested via <include>
// Confirm that joint axis rotation is handled differently for 1.4 and 1.5+
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79 changes: 79 additions & 0 deletions test/sdf/state_nested_model_world.sdf
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@@ -0,0 +1,79 @@
<?xml version="1.0"?>
<sdf version="1.7">
<world name="default">
<model name="top_level_model">
<link name="parent"/>
<link name="child"/>
<model name="nested_model01">
<link name="nested_link01"/>
<link name="nested_link02"/>
<model name="nested_nested_model01">
<link name="nested_nested_link01"/>
<link name="nested_nested_link02"/>
</model>
<model name="nested_nested_model02">
<link name="nested_nested_link01"/>
<link name="nested_nested_link02"/>
</model>
</model>
<model name="nested_model02">
<link name="nested_link01"/>
<link name="nested_link02"/>
</model>
<joint name="top_level_joint" type="revolute">
<parent>parent</parent>
<child>child</child>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
</model>
<gravity>0 0 -9.8</gravity>
<state world_name="default">
<sim_time>0 689000000</sim_time>
<real_time>0 732670244</real_time>
<wall_time>1709252095 646182343</wall_time>
<iterations>689</iterations>
<model name="top_level_model">
<link name="child">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="parent">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<model name="nested_model01">
<link name="nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<model name="nested_nested_model01">
<link name="nested_nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
</model>
<model name="nested_nested_model02">
<link name="nested_nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
</model>
</model>
<model name="nested_model02">
<link name="nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
</model>
</model>
</state>
</world>
</sdf>
90 changes: 90 additions & 0 deletions test/sdf/state_nested_model_world_insertion.sdf
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<?xml version="1.0"?>
<sdf version="1.7">
<world name="default">
<model name="top_level_model">
<link name="parent"/>
<link name="child"/>
<model name="nested_model01">
<link name="nested_link01"/>
<link name="nested_link02"/>
<model name="nested_nested_model01">
<link name="nested_nested_link01"/>
<link name="nested_nested_link02"/>
</model>
<model name="nested_nested_model02">
<link name="nested_nested_link01"/>
<link name="nested_nested_link02"/>
</model>
</model>
<model name="nested_model02">
<link name="nested_link01"/>
<link name="nested_link02"/>
</model>
<joint name="top_level_joint" type="revolute">
<parent>parent</parent>
<child>child</child>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
</model>
<gravity>0 0 -9.8</gravity>
<state world_name="default">
<sim_time>0 689000000</sim_time>
<real_time>0 732670244</real_time>
<wall_time>1709252095 646182343</wall_time>
<iterations>689</iterations>
<insertions>
<model name='unit_box'>
<pose>-0.541687 -2.44761 0.5 0 -0 0</pose>
<link name='link'/>
</model>
</insertions>
<model name="top_level_model">
<link name="child">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="parent">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<model name="nested_model01">
<link name="nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<model name="nested_nested_model01">
<link name="nested_nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
</model>
<model name="nested_nested_model02">
<link name="nested_nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
</model>
</model>
<model name="nested_model02">
<link name="nested_link01">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
<link name="nested_link02">
<pose>0 0 -2.329 0 -0 0 </pose>
</link>
</model>
</model>
<model name="unit_box">
<link name="link">
<pose>-0.5417 -2.448 0.5 0 -0 0 </pose>
</link>
</model>
</state>
</world>
</sdf>

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