Add documentation for SDFormat/Gazebo extension to URDF #88

azeey · 2023-03-11T04:25:20Z

There is good documentation for the <gazebo> tag at https://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros, but it is presented in a tutorial format and is missing some concepts and explanations. This is an attempt to document the current behavior and provide an explanation about fixed joint lumping.

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Signed-off-by: Addisu Z. Taddese <[email protected]>

aaronchongth

Thanks for the write-up! I've found some typos here and there, but overall it looks very informative.

urdf/sdf_extensions.md

scpeters

it could be nice to add examples for inserting lights and sensors to a link, and a force-torque sensor to a joint using the gazebo tags

scpeters · 2023-03-13T23:19:31Z

urdf/sdf_extensions.md

+    <static>true</static>
+    <plugin name='testPlugin' filename='testFileName'/>
+  </gazebo>
+</robot>


how do you feel about using <include/> elements in our Markdown files instead of duplicating the example code?

for example:

https://classic.gazebosim.org/tutorials?tut=drcsim_animate_joints&cat=drcsim#ModelPluginController

https://github.com/osrf/gazebo_tutorials/blame/0059020f4b86ae8f736104ef8f6c164f8830bd37/drcsim_animate_joints/tutorial.md#L46

I believe sdformat.org supports the same syntax, though I guess the links may have to point to your fork until the pull request is merged

Thanks for the pointer. I was hoping there was a way to do that, but I didn't see any examples in sdf_tutorials. I've updated all the examples. 3beee03

scpeters · 2023-03-13T23:21:52Z

urdf/sdf_extensions.md

+    <td><code>gravity</code></td>
+  </tr>
+  <tr>
+    <td>dampingFactor</td>


I'd like to see some padding between the columns of this table

it could also be helpful to draw lines between the rows and columns

Yes, I had the same idea: https://github.com/osrf/sdf_web_app/pull/66

scpeters · 2023-03-13T23:33:29Z

urdf/sdf_extensions.md

+  <tr>
+    <td>turnGravityOff</td>
+    <td>bool</td>
+    <td>A value of "true" turns gravity off. Alternatively, <code>gravity</code> (with opposite boolean value) can be used via blob insertion</td>


I think this is the only place blob insertion is mentioned in the document, but it is not defined, so we should explain what it means

I added a mention of blob insertion right before the table in 3beee03

scpeters · 2023-03-13T23:34:49Z

urdf/sdf_extensions.md

+  <tr>
+    <td>maxVel</td>
+    <td>double</td>
+    <td>maximum contact correction velocity truncation term.</td>


consider linking to the following gazebo-classic tutorial for the relevant parameters:

https://classic.gazebosim.org/tutorials?tut=physics_params&cat=physics#Contactparameters

Good idea! Done in 3beee03

scpeters · 2023-03-13T23:36:24Z

urdf/sdf_extensions.md

+      <mass value='0.12' />
+      <inertia ixx='0.01' ixy='0' ixz='0' iyy='0.01' iyz='0' izz='0.01' />
+    </inertial>
+    <collision>


add another collision to show that all collisions get the parameter?

Done in 3beee03

Signed-off-by: Addisu Z. Taddese <[email protected]>

detail Signed-off-by: Addisu Z. Taddese <[email protected]>

azeey · 2023-03-16T18:35:06Z

I've addressed all the feedback. I've also added more changes regarding preserveFixedJoint since my previous understanding of the parameter was incorrect.

aaronchongth

Thanks for going into more detail about the various behaviors of fixed joint lumping. LGTM!

azeey · 2023-03-21T18:30:58Z

@scpeters The web app has been deployed and the preview is showing the improved table formatting. Mind giving this another look?

scpeters

I don't see a use of the material_visual_example.urdf

scpeters · 2023-03-22T17:19:36Z

urdf/sdf_extensions.md

+
+**Example:**
+
+<include src='https://github.com/azeey/sdf_tutorials/raw/urdf_sdf_extension/urdf/examples/link_ref_example.urdf' />


Suggested change

<include src='https://github.com/azeey/sdf_tutorials/raw/urdf_sdf_extension/urdf/examples/link_ref_example.urdf' />

<include src='https://github.com/azeey/sdf_tutorials/raw/urdf_sdf_extension/urdf/examples/material_example.urdf' />

scpeters · 2023-03-22T17:29:11Z

urdf/examples/preserve_fixed_joint_example.urdf

+    <origin xyz='0 0 1' rpy='0 0 0'/>
+  </joint>
+  <link name='end_effector'>
+    <inertial>


<inertia /> block is missing, which deviates from prior example

Good catch. Changed in 8d1ad17. The resulting SDFormat now also has the end_effector_visual. Not sure why it was missing before.

Signed-off-by: Addisu Z. Taddese <[email protected]>

azeey · 2023-03-22T17:46:56Z

I don't see a use of the material_visual_example.urdf

Thanks for catching this. Added in 1fa5044

Add documentation for SDFormat/Gazebo extension to URDF

a674b6f

Signed-off-by: Addisu Z. Taddese <[email protected]>

azeey requested a review from aaronchongth March 11, 2023 04:25

azeey self-assigned this Mar 11, 2023

aaronchongth requested changes Mar 13, 2023

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scpeters reviewed Mar 13, 2023

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aaronchongth mentioned this pull request Mar 16, 2023

URDF->SDF handle links with no inertia or small mass gazebosim/sdformat#1238

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azeey added 2 commits March 16, 2023 13:01

Reviewer feedback and other small edits

3beee03

Signed-off-by: Addisu Z. Taddese <[email protected]>

Correct description of the preserveFixedJoint parameter and add more

9fd1a22

detail Signed-off-by: Addisu Z. Taddese <[email protected]>

azeey force-pushed the urdf_sdf_extension branch from bfadf46 to 9fd1a22 Compare March 16, 2023 18:26

aaronchongth approved these changes Mar 17, 2023

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aaronchongth mentioned this pull request Mar 17, 2023

urdf-sdf conversion behaviors when a zero mass link exists #87

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scpeters reviewed Mar 22, 2023

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azeey added 2 commits March 22, 2023 12:38

Address reviewer feedback

8d1ad17

Signed-off-by: Addisu Z. Taddese <[email protected]>

Add example using material_visual_example.urdf

1fa5044

Signed-off-by: Addisu Z. Taddese <[email protected]>

scpeters approved these changes Mar 23, 2023

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azeey merged commit 8e6c780 into gazebosim:master Mar 23, 2023

azeey deleted the urdf_sdf_extension branch March 23, 2023 14:36

azeey mentioned this pull request Mar 23, 2023

Fix include URLs for SDFormat extension to URDF tutorial #89

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azeey mentioned this pull request May 20, 2023

tutorials: custom tags for URDF -> SDFormat conversion #24

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Add documentation for SDFormat/Gazebo extension to URDF #88

Add documentation for SDFormat/Gazebo extension to URDF #88

azeey commented Mar 11, 2023 •

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azeey commented Mar 22, 2023


		Example:

		<include src='https://github.com/azeey/sdf_tutorials/raw/urdf_sdf_extension/urdf/examples/link_ref_example.urdf' />

Add documentation for SDFormat/Gazebo extension to URDF #88

Add documentation for SDFormat/Gazebo extension to URDF #88

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azeey commented Mar 11, 2023 • edited Loading

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azeey commented Mar 22, 2023

azeey commented Mar 11, 2023 •

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