Visualize joints #961

atharva-18 · 2021-08-09T15:08:13Z

🎉 New feature

Closes #106
Requires gazebosim/gz-rendering#366

Summary

Adds the ability to visualize joints of simulation models, similar to Gazebo Classic

Test it

Test it by right-clicking on a model and selecting View -> Joints

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

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Signed-off-by: Atharva Pusalkar <[email protected]>

…into visualize_joints

Signed-off-by: Atharva Pusalkar <[email protected]>

…into visualize_joints

include/ignition/gazebo/rendering/SceneManager.hh

src/rendering/RenderUtil.cc

src/rendering/SceneManager.cc

…into visualize_joints

Signed-off-by: Atharva Pusalkar <[email protected]>

…into visualize_joints

Signed-off-by: Atharva Pusalkar <[email protected]>

ahcorde · 2021-08-19T20:38:05Z

friendly ping @chapulina @iche033

chapulina

So great to see we're about to have joint visuals!

I tested with this model:

https://app.ignitionrobotics.org/OpenRobotics/fuel/models/Demo%20Joint%20Types

I see that the revolute, revolute2 and universal joints seem to be missing the joint pose offset:

chapulina · 2021-08-19T21:50:13Z

src/gui/plugins/scene3d/Scene3D.cc

@@ -1040,6 +1046,32 @@ void IgnRenderer::Render(RenderSync *_renderSync)
    }
  }

+  // View inertia


Suggested change

// View inertia

// View joints

The joint visual pose should be fixed by 101a1e7

iche033

looking good, have a few optimization suggestions.

iche033 · 2021-08-20T01:06:30Z

src/rendering/RenderUtil.cc

+  /// \param[in] _ecm The entity-component manager
+  public: void FindJointModels(const EntityComponentManager &_ecm);
+
+  /// \brief A list of models used to create new inertia visuals


inertia -> joint

iche033 · 2021-08-20T01:09:49Z

src/rendering/SceneManager.cc

+    auto axis1UseParentFrame =
+        (_joint.Axis(0)->XyzExpressedIn() == "__model__")? true : false;
+    auto axis2UseParentFrame =
+        (_joint.Axis(1)->XyzExpressedIn() == "__model__")? true : false;


I think the logic can be be simplified to something like:

bool axis2UseParentFrame = _joint.Axis(1)->XyzExpressedIn() == "__model__";

iche033 · 2021-08-20T01:16:46Z

src/rendering/SceneManager.cc

+    if (this->dataPtr->visuals.find(_parentId) != this->dataPtr->visuals.end())
+    {
+      auto parentName = this->dataPtr->visuals[_parentId]->Name();


nitpick: store the find result to avoid a second lookup:

auto it = this->dataPtr->visuals.find(_parentId); if (it != this->dataPtr->visuals.end()) { auto parentName = it->second->Name();

iche033 · 2021-08-20T01:17:22Z

src/rendering/SceneManager.cc

+  {
+    auto axis1 = _joint.Axis(0)->Xyz();
+    auto axis1UseParentFrame =
+        (_joint.Axis(0)->XyzExpressedIn() == "__model__")? true : false;


same comment as before about simplifying the logic here

bool axis1UseParentFrame = _joint.Axis(0)->XyzExpressedIn() == "__model__";

iche033 · 2021-08-20T01:20:53Z

src/rendering/RenderUtil.cc

+            != this->dataPtr->wireBoxes.end())
+      {
+        ignition::rendering::WireBoxPtr wireBox =
+          this->dataPtr->wireBoxes[jointEntity];


nitpick: store find result to avoid second lookup:

auto wireBoxIt = this->dataPtr->wireBoxes.find(jointEntity); if (wireBoxIt != this->dataPtr->wireBoxes.end()) { ignition::rendering::WireBoxPtr wireBox = wireBoxIt->second;

iche033 · 2021-08-20T01:53:12Z

I tested changing a revolute joint to fixed and commenting out the <axis> tag, and the visual becomes quite large:

If I add the <axis> tag back, then the size is correct but the arrow of the axis is highlighted in yellow - I think it should not be highlighted as it's a fixed joint. Here's what it looks like in gazebo-classic:

Signed-off-by: Atharva Pusalkar <[email protected]>

…nto visualize_joints

atharva-18 · 2021-08-20T13:07:13Z

I tested changing a revolute joint to fixed and commenting out the <axis> tag, and the visual becomes quite large:

If I add the <axis> tag back, then the size is correct but the arrow of the axis is highlighted in yellow - I think it should not be highlighted as it's a fixed joint. Here's what it looks like in gazebo-classic:

The scaling and <axis> tag issues should be fixed by 10f9fd5

iche033 · 2021-08-20T19:01:20Z

the fixed joint scale issue is fixed, thanks.

I'm testing with the Demo Joint Types model and noticed that revolute2 and universal joints don't show the 2nd yellow axis? Here's comparison with gazebo classic?

Signed-off-by: Atharva Pusalkar <[email protected]>

atharva-18 · 2021-08-23T17:00:11Z

The axis2 pose issue should be fixed by 0b74bf4

Here's the revolute2 joint:

I am able to visualize the universal joint demo for the demo_joint_types.sdf file present in the test/worlds/ folder, and not for the model present on Fuel. Maybe it's an issue with the model on Fuel?
This is how the universal joint visual looks like:

codecov · 2021-08-23T18:12:36Z

Codecov Report

Merging #961 (3eb52a1) into main (e3ee0af) will decrease coverage by 0.88%.
The diff coverage is 49.15%.

❗ Current head 3eb52a1 differs from pull request most recent head fa080c4. Consider uploading reports for the commit fa080c4 to get more accurate results

@@            Coverage Diff             @@
##             main     #961      +/-   ##
==========================================
- Coverage   64.66%   63.78%   -0.89%     
==========================================
  Files         242      246       +4     
  Lines       19014    19996     +982     
==========================================
+ Hits        12296    12755     +459     
- Misses       6718     7241     +523

Impacted Files	Coverage Δ
include/ignition/gazebo/EntityComponentManager.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/Link.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/Server.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/gui/GuiEvents.hh	`0.00% <0.00%> (ø)`
include/ignition/gazebo/rendering/RenderUtil.hh	`100.00% <ø> (ø)`
include/ignition/gazebo/rendering/SceneManager.hh	`100.00% <ø> (ø)`
src/SdfEntityCreator.cc	`84.53% <0.00%> (-0.89%)`	⬇️
src/gui/Gui.cc	`65.35% <ø> (+0.23%)`	⬆️
src/gui/GuiRunner.cc	`85.91% <0.00%> (-0.34%)`	⬇️
src/gui/plugins/scene3d/Scene3D.hh	`50.00% <ø> (ø)`
... and 65 more

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iche033 · 2021-08-24T01:00:06Z

Maybe it's an issue with the model on Fuel?

yep, I just fixed the model on Fuel. It should now show the axis. You'll need to clear the one in your fuel cache (~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/) and rerun ign-gazebo to download the new one.

This is how the universal joint visual looks like

I was able to see what you have now! Just one minor detail - the red axis is missing an arrow head.

atharva-18 · 2021-08-24T16:26:27Z

I see. For that the ign-rendering class would require a small patch in the UpdateAxis method, to avoid changing the axis head visibility for our case.
atharva-18/ign-rendering@f301591
This is how it looks with the fix:

iche033 · 2021-08-24T17:16:14Z

atharva-18/ign-rendering@f301591

ok I see, can you create a pull request for this?

atharva-18 · 2021-08-24T17:26:40Z

Created a PR - gazebosim/gz-rendering#387

iche033

looks good to me!

ahcorde · 2021-08-25T14:21:22Z

@osrf-jenkins retest this please

osrf-triage · 2021-09-01T11:46:11Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/google-summer-of-code-2021-new-gui-widgets-in-ignition-gazebo/1081/1

atharva-18 added 8 commits July 4, 2021 14:08

Add renderutil impl

4876578

Signed-off-by: Atharva Pusalkar <[email protected]>

Set joint data

2e3ba87

Signed-off-by: Atharva Pusalkar <[email protected]>

Use new API

71a5418

Signed-off-by: Atharva Pusalkar <[email protected]>

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

9e63f3e

…into visualize_joints

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

d2d8879

…into visualize_joints

Fix link map

d022d6a

Signed-off-by: Atharva Pusalkar <[email protected]>

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

729742f

…into visualize_joints

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

72d28b2

…into visualize_joints

atharva-18 requested review from chapulina and iche033 as code owners August 9, 2021 15:08

github-actions bot added the 🏯 fortress Ignition Fortress label Aug 9, 2021

ahcorde requested changes Aug 9, 2021

View reviewed changes

chapulina added GUI Gazebo's graphical interface (not pure Ignition GUI) rendering Involves Ignition Rendering needs upstream release Blocked by a release of an upstream library labels Aug 9, 2021

atharva-18 and others added 5 commits August 13, 2021 16:41

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

cf0b2c4

…into visualize_joints

Style comments

bae3d09

Signed-off-by: Atharva Pusalkar <[email protected]>

Merge branch 'main' of https://github.com/ignitionrobotics/ign-gazebo …

ecf93be

…into visualize_joints

Use new rendering API

3097ec8

Signed-off-by: Atharva Pusalkar <[email protected]>

Merge branch 'main' into visualize_joints

5570a1e

chapulina reviewed Aug 19, 2021

View reviewed changes

iche033 reviewed Aug 20, 2021

View reviewed changes

atharva-18 added 4 commits August 20, 2021 16:03

Fix joint visual raw pose

101a1e7

Signed-off-by: Atharva Pusalkar <[email protected]>

Optimizations

de37a0a

Signed-off-by: Atharva Pusalkar <[email protected]>

Fix joint visual scale for fixed joints

10f9fd5

Signed-off-by: Atharva Pusalkar <[email protected]>

Merge branch 'visualize_joints' of github.com:atharva-18/ign-gazebo i…

6549d74

…nto visualize_joints

Fix parent axis visual pose

0b74bf4

Signed-off-by: Atharva Pusalkar <[email protected]>

chapulina mentioned this pull request Aug 23, 2021

👩‍🌾 Windows build failures: Unknown CMake command "PROTOBUF_GENERATE_CPP". #990

Closed

atharva-18 mentioned this pull request Aug 24, 2021

Fix JointVisual axis head visibility gazebosim/gz-rendering#387

Merged

7 tasks

iche033 approved these changes Aug 25, 2021

View reviewed changes

Merge branch 'main' into visualize_joints

fa080c4

ahcorde approved these changes Aug 26, 2021

View reviewed changes

ahcorde merged commit 1334b5c into gazebosim:main Aug 26, 2021

chapulina mentioned this pull request Sep 13, 2021

Visualize joints #106

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Visualize joints #961

Visualize joints #961

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Visualize joints #961

Visualize joints #961

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atharva-18 commented Aug 9, 2021 • edited Loading

🎉 New feature

Summary

Test it

Checklist

ahcorde commented Aug 19, 2021

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