Allow SDF model to be constructed in a single shot

[mxgrey]

🎉 New feature

Summary

This PR tweaks the behavior of the physics system so that when constructing a model it will first check if a ModelSdf component is available for the entity. If so, it uses that component to fill in all the model information, overriding the fields that are given by the other entity components (e.g. name and pose).

When creating a link, the physics engine will first check if a link of the same name for that model was already constructed. If so, the construction step is skipped, the link is queried from the model, and it gets added to the entity map. Same for joints and collision objects.

The net result of these behavioral changes is that physics engines which can only construct models all at once are able to be used for the typical use cases, while physics engines that can construct models incrementally can still do so when the user wants them to.

Test it

Try running with the dartsim plugin. Even though the behavior changed, there is no noticeable difference in the outcome.

The ability to test these changes with a bullet-featherstone plugin is forthcoming. The implementation is finished, but I am debugging some segfaults from inside of bullet at the moment.

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] 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

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

Joint is not placed in the right pose (bullet-featherstone), tested with log_record_dbl_pendulum.sdf

[mxgrey]

The seg fault issue with the classic bullet plugin is fixed by gazebosim/gz-physics#393 and the TPE failing to load is fixed by 4b01010.

I think the joint offset issue for bullet-featherstone shouldn't be a blocker for this PR since that will need to be fixed in gazebosim/gz-physics#373 and wouldn't involve any changes to this PR.

[mxgrey]

@osrf-jenkins retest this please

[mjcarroll]

@mxgrey we have a whole slew of test failures here that aren't in main. I spent a little bit of time, but didn't make much headway.

[chapulina]

Removed the Garden label because we're past feature freeze ❄️ .

This PR can either be merged into main and backported to gz-sim7 after the stable release, or retargeted to gz-sim7 and merged after the stable release (i.e. October).

[mjcarroll]

@osrf-jenkins retest this please

[mjcarroll]

@osrf-jenkins retest this please

[ahcorde]

ackermann_steering	ok
acoustic_comms_demo	vehicles are not moving properly
acoustic_comms_moving_targets.sdf	wierd
acoustic_comms.sdf	ok
actor_crowd	ok
linear_battery_demo.sdf	ok
logical_audio_sensor_plugin.sdf	ok
logical_camera_sensor.sdf	ok
log_record_dbl_pendulum.sdf	ok
log_record_keyboard.sdf	ok
actor_crowd.sdf	ok
log_record_resources.sdf	ok
actor.sdf	ok
log_record_shapes.sdf	ok
actors_population.sdf	ok
mecanum_drive.sdf	not working
minimal_scene.sdf	ok
apply_joint_force.sdf	vel can be setted but when zero is setted the joint will not stop (damping is not applied)
model_photo_shoot.sdf	segfault
apply_link_wrench.sdf	ok
multicopter_velocity_control.sdf	small quad can takeoff but the hexacopter cannot
auv_controls.sdf	doing the wrong thing
multi_lrauv_race.sdf	the vehicle in the middle is not working properly the other two sometimes are doing wierd stuff too
boundingbox_camera.sdf	ok
nested_model.sdf	ok
breadcrumbs.sdf	box is getting some initial speed and the vehicle is not include in the physics engine
optical_tactile_sensor_plugin.sdf	ok
buoyancy_engine.sdf	boxes are moving up and down, not sure if this is ok
particle_emitter.sdf	ok
buoyancy.sdf	motor is rotating but the model is stuck in the same position
pendulum_links.sdf	removing the velocity plugin works well, commands are doing wierd things
camera_sensor.sdf	ok
perfect_comms.sdf	ok
camera_video_record_dbl_pendulum.sdf	ok
performer_detector.sdf	ok
physics_options.sdf	ok
collada_world_exporter.sdf	ok
plane_propeller_demo.sdf	plane doing wierd things, crazy since the beginning of the simulation
contact_sensor.sdf	ok
plot_3d.sdf	ok
conveyor.sdf	feature not implemented
polylines.sdf	polyline not supported as a collision shape
debug_shapes.sdf	ok
pose_publisher.sdf	ok
default.sdf	ok
quadcopter.sdf	ok
dem_monterey_bay.sdf	not supported
rf_comms.sdf	ok
dem_moon.sdf	not supported
rolling_shapes.sdf	ok
dem_volcano.sdf	not supported
segmentation_camera.sdf	ok
deprecated_ignition.sdf	ok
sensors_demo.sdf	ok
depth_camera_sensor.sdf	ok
sensors.sdf	ok
detachable_joint.sdf	ok
shader_param.sdf	segfautl
diff_drive.sdf	ok
shapes_bitmask.sdf	not implemented
diff_drive_skid.sdf	ok
elevator.sdf	ok (need to adjust PID)
shapes.sdf	ok
empty_gui.sdf	ok
skid_steer_mecanum.sdf	not turning properly
empty.sdf	ok
sky.sdf	ok
follow_actor.sdf	ok
spaces.sdf	ok
fuel.sdf	ok (heightmap not supported)
spherical_coordinates.sdf	when spawn a model, the model is crazy
fuel_textured_mesh.sdf	ok
thermal_camera.sdf	error reading world, might be related with the migration, this world should work
gpu_lidar_retro_values_sensor.sdf	ok
gpu_lidar_sensor.sdf	ok
touch_plugin.sdf	ok
graded_buoyancy.sdf	some physics errors
track_drive.sdf	models are crazy
grid.sdf	ok
tracked_vehicle_simple.sdf	segfault
heightmap.sdf	not supported
trajectory_follower.sdf	working but not doing the same as dartsim
import_mesh.sdf	ok
triggered_camera_sensor.sdf	ok
joint_controller.sdf	ok
triggered_publisher.sdf	ok
joint_position_controller.sdf	ok
trisphere_cycle_wheel_slip.sdf	ok
joint_trajectory_controller.sdf	ok
tunnel.sdf	segfault
kinetic_energy_monitor.sdf	not working (missing features?)
velocity_control.sdf	ok
levels_no_performers.sdf
video_record_dbl_pendulum.sdf	ok
levels.sdf	ok
visibility.sdf	ok
lift_drag_battery.sdf	joint rotating but not taking off
visualize_contacts.sdf	ok
lift_drag_nested.sdf	issues building model
visualize_lidar.sdf	ok (car jumps at the beginning)
lift_drag.sdf	joint rotates but the model is not taking off
wide_angle_camera.sdf	ok
lightmap.sdf	not able to see anything in the minimal scene (rendering issue?)
wind.sdf	ok
lights.sdf	ok
world_joint.sdf	segfault

NOTES:

• There are some tutorials to record logs but it will be great to add some instructions to the sdf files

[mjcarroll]

@osrf-jenkins retest this please

[livanov93]

@mxgrey @ahcorde What needs to be done to merge this one?

[mjcarroll]

@osrf-jenkins retest this please

[mjcarroll]

@mxgrey @ahcorde What needs to be done to merge this one?

I believe that I got all the tests passing, but CI isn't reflecting that yet, giving it another go.

[mjcarroll]

@osrf-jenkins retest this please

[codecov[bot]]

Codecov Report

Merging #1560 (d411d1b) into gz-sim7 (6a8594b) will increase coverage by 0.09%. The diff coverage is 69.80%.

:exclamation: Current head d411d1b differs from pull request most recent head 8e6c8e2. Consider uploading reports for the commit 8e6c8e2 to get more accurate results

@@             Coverage Diff             @@
##           gz-sim7    #1560      +/-   ##
===========================================
+ Coverage    64.16%   64.25%   +0.09%     
===========================================
  Files          335      336       +1     
  Lines        26508    26889     +381     
===========================================
+ Hits         17008    17277     +269     
- Misses        9500     9612     +112     

Impacted Files	Coverage Δ
include/gz/sim/SystemLoader.hh	100.00% <ø> (ø)
include/gz/sim/detail/EntityComponentManager.hh	93.86% <ø> (ø)
include/gz/sim/rendering/RenderUtil.hh	100.00% <ø> (ø)
.../plugins/component_inspector/ComponentInspector.hh	28.57% <ø> (ø)
src/gui/plugins/scene_manager/GzSceneManager.cc	17.58% <0.00%> (-0.60%)	:arrow_down:
...rc/systems/ackermann_steering/AckermannSteering.hh	100.00% <ø> (ø)
src/systems/track_controller/TrackController.cc	46.80% <ø> (+0.19%)	:arrow_up:
.../systems/triggered_publisher/TriggeredPublisher.hh	100.00% <ø> (ø)
.../plugins/component_inspector/ComponentInspector.cc	5.46% <2.77%> (-0.33%)	:arrow_down:
...s/multicopter_motor_model/MulticopterMotorModel.cc	75.91% <33.33%> (-0.22%)	:arrow_down:
... and 19 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.