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[parsing] Slightly improve joint parsing diagnostics #17054

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merged 1 commit into from
Apr 29, 2022
Merged

[parsing] Slightly improve joint parsing diagnostics #17054

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40 changes: 37 additions & 3 deletions multibody/parsing/detail_sdf_parser.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -605,9 +605,43 @@ void AddJointFromSpecification(
child_body, X_CJ, damping);
break;
}
default: {
throw std::logic_error(
"Joint type not supported for joint '" + joint_spec.Name() + "'.");
case sdf::JointType::CONTINUOUS: {
// TODO(#14747) Use an unlimited multibody::RevoluteJoint here.
diagnostic.Error(fmt::format(
"Joint type (continuous) not supported for joint '{}'.",
joint_spec.Name()));
break;
}
case sdf::JointType::SCREW: {
// TODO(jwnimmer-tri) Use a multibody::ScrewJoint here.
diagnostic.Error(fmt::format(
"Joint type (screw) not supported for joint '{}'.",
joint_spec.Name()));
break;
}
case sdf::JointType::GEARBOX: {
// TODO(jwnimmer-tri) Demote this to a warning, possibly adding a
// RevoluteJoint as an approximation (stopgap) in that case.
diagnostic.Error(fmt::format(
"Joint type (gearbox) not supported for joint '{}'.",
joint_spec.Name()));
break;
}
case sdf::JointType::REVOLUTE2: {
// TODO(jwnimmer-tri) Demote this to a warning, possibly adding a
// UniversalJoint as an approximation (stopgap) in that case.
diagnostic.Error(fmt::format(
"Joint type (revolute2) not supported for joint '{}'.",
joint_spec.Name()));
break;
}
case sdf::JointType::INVALID: {
// N.B. It's not practical to reach this code via unit test.
// In (probably?) all cases, libsdformat will have already detected
// this error and so Drake won't even call this function.
diagnostic.Error(fmt::format(
"Unknown joint type for joint '{}'.", joint_spec.Name()));
break;
}
}
joint_types->insert(joint_spec.Type());
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75 changes: 75 additions & 0 deletions multibody/parsing/test/detail_sdf_parser_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -931,6 +931,81 @@ TEST_F(SdfParserTest, JointParsingTest) {
EXPECT_TRUE(CompareMatrices(planar_joint2.velocity_upper_limits(), inf3));
}

// Tests the error handling for an unsupported joint type.
TEST_F(SdfParserTest, ContinuousJointParsingTest) {
ParseTestString(R"""(
<model name="molly">
<link name="larry" />
<joint name="jerry" type="continuous">
<parent>world</parent>
<child>larry</child>
</joint>
</model>)""");
EXPECT_THAT(FormatFirstError(), ::testing::MatchesRegex(
".*continuous.*not supported.*jerry.*"));
ClearDiagnostics();
}

// Tests the error handling for an unsupported joint type.
TEST_F(SdfParserTest, ScrewJointParsingTest) {
ParseTestString(R"""(
<model name="molly">
<link name="larry" />
<joint name="jerry" type="screw">
<parent>world</parent>
<child>larry</child>
</joint>
</model>)""");
EXPECT_THAT(FormatFirstError(), ::testing::MatchesRegex(
".*screw.*not supported.*jerry.*"));
ClearDiagnostics();
}

// Tests the error handling for an unsupported joint type.
TEST_F(SdfParserTest, GearboxJointParsingTest) {
ParseTestString(R"""(
<model name="molly">
<link name="larry" />
<joint name="jerry" type="gearbox">
<parent>world</parent>
<child>larry</child>
</joint>
</model>)""");
EXPECT_THAT(FormatFirstError(), ::testing::MatchesRegex(
".*gearbox.*not supported.*jerry.*"));
ClearDiagnostics();
}

// Tests the error handling for an unsupported joint type.
TEST_F(SdfParserTest, Revolute2JointParsingTest) {
ParseTestString(R"""(
<model name="molly">
<link name="larry" />
<joint name="jerry" type="revolute2">
<parent>world</parent>
<child>larry</child>
</joint>
</model>)""");
EXPECT_THAT(FormatFirstError(), ::testing::MatchesRegex(
".*revolute2.*not supported.*jerry.*"));
ClearDiagnostics();
}

// Tests the error handling for a misspelled joint type.
TEST_F(SdfParserTest, MisspelledJointParsingTest) {
ParseTestString(R"""(
<model name="molly">
<link name="larry" />
<joint name="jerry" type="revoluteQQQ">
<parent>world</parent>
<child>larry</child>
</joint>
</model>)""");
EXPECT_THAT(FormatFirstError(), ::testing::MatchesRegex(
".*revoluteqqq is invalid.*"));
ClearDiagnostics();
}

// Verifies that the SDF parser parses the joint actuator limit correctly.
TEST_F(SdfParserTest, JointActuatorParsingTest) {
const std::string full_name = FindResourceOrThrow(
Expand Down