Merge branch 'sdf13' into scpeters/pick_fix_find_python

CMakeLists.txt

@@ -5,7 +5,7 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
 
-project (sdformat13 VERSION 13.6.0)
+project (sdformat13 VERSION 13.7.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software

Changelog.md

@@ -1,5 +1,41 @@
 ## libsdformat 13.X
 
+### libsdformat 13.7.0 (2024-06-13)
+
+1. Add support for no gravity link
+    * [Pull request #1410](https://github.com/gazebosim/sdformat/pull/1410)
+    * [Pull request #1419](https://github.com/gazebosim/sdformat/pull/1419)
+
+1. Fix macOS workflow and backport windows fix
+    * [Pull request #1409](https://github.com/gazebosim/sdformat/pull/1409)
+
+1. Fix warning with pybind11 2.12
+    * [Pull request #1389](https://github.com/gazebosim/sdformat/pull/1389)
+
+1. Add bullet and torsional friction DOM
+    * [Pull request #1351](https://github.com/gazebosim/sdformat/pull/1351)
+    * [Pull request #1427](https://github.com/gazebosim/sdformat/pull/1427)
+
+1. Resolve URIs relative to file path
+    * [Pull request #1373](https://github.com/gazebosim/sdformat/pull/1373)
+
+1. Bazel updates for Garden build
+    * [Pull request #1239](https://github.com/gazebosim/sdformat/pull/1239)
+
+1. Fix static builds and optimize test compilation
+    * [Pull request #1343](https://github.com/gazebosim/sdformat/pull/1343)
+    * [Pull request #1347](https://github.com/gazebosim/sdformat/pull/1347)
+
+1. Install ruby commands on Windows
+    * [Pull request #1339](https://github.com/gazebosim/sdformat/pull/1339)
+    * [Pull request #1341](https://github.com/gazebosim/sdformat/pull/1341)
+
+1. Update github action workflows
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
 ### libsdformat 13.6.0 (2023-08-30)
 
 1. Use relative path in an urdf include to avoid confusion between internal and system headers
@@ -462,6 +498,21 @@
 
 ## libsdformat 12.X
 
+### libsdformat 12.8.0 (2024-06-06)
+
+1. Add support for no gravity link
+    * [Pull request #1410](https://github.com/gazebosim/sdformat/pull/1410)
+
+1. Add bullet and torsional friction DOM
+    * [Pull request #1351](https://github.com/gazebosim/sdformat/pull/1351)
+
+1. Fix static builds and optimize test compilation
+    * [Pull request #1343](https://github.com/gazebosim/sdformat/pull/1343)
+    * [Pull request #1347](https://github.com/gazebosim/sdformat/pull/1347)
+
+1. Update github action workflows
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+
 ### libsdformat 12.7.2 (2023-09-01)
 
 1. Fixed 1.9/light.sdf

include/sdf/Link.hh

@@ -374,12 +374,22 @@ namespace sdf
     /// \sa bool Model::EnableWind
     public: bool EnableWind() const;
 
+    /// \brief Check if this link should be subject to gravity.
+    /// If true, this link should be affected by gravity.
+    /// \return true if the model should be subject to gravity, false otherwise.
+    public: bool EnableGravity() const;
+
     /// \brief Set whether this link should be subject to wind.
     /// \param[in] _enableWind True or false depending on whether the link
     /// should be subject to wind.
     /// \sa Model::SetEnableWind(bool)
     public: void SetEnableWind(bool _enableWind);
 
+    /// \brief Set whether this link should be subject to gravity.
+    /// \param[in] _enableGravity True or false depending on whether the link
+    /// should be subject to gravity.
+    public: void SetEnableGravity(bool _enableGravity);
+
     /// \brief Add a collision to the link.
     /// \param[in] _collision Collision to add.
     /// \return True if successful, false if a collision with the name already

include/sdf/ParserConfig.hh

@@ -179,6 +179,10 @@ class SDFORMAT_VISIBLE ParserConfig
   /// and merge the child link into the parent.
   public: bool URDFPreserveFixedJoint() const;
 
+  /// \brief Set the storeResolvedURIs flag value.
+  /// \sa SetStoreResolvedURIs
+  public: void SetStoreResovledURIs(bool _resolveURI);
+
   /// \brief Set the storeResolvedURIs flag value.
   /// \param[in] _resolveURI True to make the parser attempt to resolve any
   /// URIs found and store them.  False to preserve original URIs
@@ -188,7 +192,7 @@ class SDFORMAT_VISIBLE ParserConfig
   /// If the FindFileCallback provides a non-empty string, the URI will be
   /// stored in the DOM object, and the original (unresolved) URI will be
   /// stored in the underlying Element.
-  public: void SetStoreResovledURIs(bool _resolveURI);
+  public: void SetStoreResolvedURIs(bool _resolveURI);
 
   /// \brief Get the storeResolvedURIs flag value.
   /// \return True if the parser will attempt to resolve any URIs found and

include/sdf/Surface.hh

@@ -17,6 +17,7 @@
 #ifndef SDF_SURFACE_HH_
 #define SDF_SURFACE_HH_
 
+#include <gz/math/Vector3.hh>
 #include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
@@ -122,6 +123,132 @@ namespace sdf
     GZ_UTILS_IMPL_PTR(dataPtr)
   };
 
+  /// \brief BulletFriction information for a friction.
+  class SDFORMAT_VISIBLE BulletFriction
+  {
+    /// \brief Default constructor
+    public: BulletFriction();
+
+    /// \brief Load BulletFriction friction based on a element pointer. This is
+    /// *not* the usual entry point. Typical usage of the SDF DOM is through
+    /// the Root object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the friction coefficient in first friction pyramid direction.
+    /// \returns Friction coefficient
+    public: double Friction() const;
+
+    /// \brief Set friction coefficient in first friction pyramid direction.
+    /// \param[in] _fricton Friction coefficient
+    public: void SetFriction(double _friction);
+
+    /// \brief Get the friction coefficient in second friction pyramid
+    /// direction.
+    /// \return Second friction coefficient
+    public: double Friction2() const;
+
+    /// \brief Set friction coefficient in second friction pyramid direction.
+    /// \param[in] _fricton Friction coefficient
+    public: void SetFriction2(double _friction);
+
+    /// \brief Get the first friction pyramid direction in collision-fixed
+    /// reference
+    /// \return First friction pyramid direction.
+    public: const gz::math::Vector3d &Fdir1() const;
+
+    /// \brief Set the first friction pyramid direction in collision-fixed
+    /// reference
+    /// \param[in] _fdir First friction pyramid direction.
+    public: void SetFdir1(const gz::math::Vector3d &_fdir);
+
+    /// \brief Get the rolling friction coefficient
+    /// \return Rolling friction coefficient
+    public: double RollingFriction() const;
+
+    /// \brief Set the rolling friction coefficient
+    /// \param[in] _slip1 Rolling friction coefficient
+    public: void SetRollingFriction(double _friction);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Private data pointer.
+    GZ_UTILS_IMPL_PTR(dataPtr)
+  };
+
+  /// \brief Torsional friction
+  class SDFORMAT_VISIBLE Torsional
+  {
+    /// \brief Default constructor
+    public: Torsional();
+
+    /// \brief Load torsional friction based on a element pointer. This is *not*
+    /// the usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the torsional friction coefficient.
+    /// \return Torsional friction coefficient
+    public: double Coefficient() const;
+
+    /// \brief Set the torsional friction coefficient.
+    /// \param[in] _fricton Torsional friction coefficient
+    public: void SetCoefficient(double _coefficient);
+
+    /// \brief Get whether the patch radius is used to calculate torsional
+    /// friction.
+    /// \return True if patch radius is used.
+    public: bool UsePatchRadius() const;
+
+    /// \brief Set whether to use patch radius for torsional friction
+    /// calculation.
+    /// \param[in] _usePatchRadius True to use patch radius.
+    /// False to use surface radius.
+    public: void SetUsePatchRadius(bool _usePatchRadius);
+
+    /// \brief Get the radius of contact patch surface.
+    /// \return Patch radius
+    public: double PatchRadius() const;
+
+    /// \brief Set the radius of contact patch surface.
+    /// \param[in] _radius Patch radius
+    public: void SetPatchRadius(double _radius);
+
+    /// \brief Get the surface radius on the contact point
+    /// \return Surface radius
+    public: double SurfaceRadius() const;
+
+    /// \brief Set the surface radius on the contact point.
+    /// \param[in] _radius Surface radius
+    public: void SetSurfaceRadius(double _radius);
+
+    /// \brief Get the ODE force dependent slip for torsional friction
+    /// \return Force dependent slip for torsional friction.
+    public: double ODESlip() const;
+
+    /// \brief Set the ODE force dependent slip for torsional friction
+    /// \param[in] _slip Force dependent slip for torsional friction.
+    public: void SetODESlip(double _slip);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Private data pointer.
+    GZ_UTILS_IMPL_PTR(dataPtr)
+  };
+
   /// \brief Friction information for a surface.
   class SDFORMAT_VISIBLE Friction
   {
@@ -145,6 +272,24 @@ namespace sdf
     /// \param[in] _ode The ODE object.
     public: void SetODE(const sdf::ODE &_ode);
 
+    /// \brief Get the associated BulletFriction object
+    /// \return Pointer to the associated BulletFriction object,
+    /// nullptr if the Surface doesn't contain a BulletFriction element.
+    public: const sdf::BulletFriction *BulletFriction() const;
+
+    /// \brief Set the associated BulletFriction object.
+    /// \param[in] _bullet The BulletFriction object.
+    public: void SetBulletFriction(const sdf::BulletFriction &_bullet);
+
+    /// \brief Get the torsional friction
+    /// \return Pointer to the torsional friction
+    /// nullptr if the Surface doesn't contain a torsional friction element.
+    public: const sdf::Torsional *Torsional() const;
+
+    /// \brief Set the torsional friction
+    /// \param[in] _torsional The torsional friction.
+    public: void SetTorsional(const sdf::Torsional &_torsional);
+
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has

include/sdf/World.hh

@@ -278,6 +278,20 @@ namespace sdf
     /// \return True if there exists an actor with the given name.
     public: bool ActorNameExists(const std::string &_name) const;
 
+    /// \brief Get an actor based on a name.
+    /// \param[in] _name Name of the actor.
+    /// \return Pointer to the actor. Nullptr if an actor with the given name
+    /// does not exist.
+    /// \sa bool ActorNameExists(const std::string &_name) const
+    public: const Actor *ActorByName(const std::string &_name) const;
+
+    /// \brief Get a mutable actor based on a name.
+    /// \param[in] _name Name of the actor.
+    /// \return Pointer to the actor. Nullptr if an actor with the given name
+    /// does not exist.
+    /// \sa bool ActorNameExists(const std::string &_name) const
+    public: Actor *ActorByName(const std::string &_name);
+
     /// \brief Get the number of explicit frames that are immediate (not nested)
     /// children of this World object.
     /// \remark FrameByName() can find explicit frames that are not immediate

python/src/sdf/_gz_sdformat_pybind11.cc

@@ -79,6 +79,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
   sdf::python::defineAltimeter(m);
   sdf::python::defineAtmosphere(m);
   sdf::python::defineBox(m);
+  sdf::python::defineBulletFriction(m);
   sdf::python::defineCamera(m);
   sdf::python::defineCapsule(m);
   sdf::python::defineCollision(m);
@@ -123,6 +124,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
   sdf::python::defineSky(m);
   sdf::python::defineSphere(m);
   sdf::python::defineSurface(m);
+  sdf::python::defineTorsional(m);
   sdf::python::defineVisual(m);
   sdf::python::defineWorld(m);
 
@@ -141,7 +143,11 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
       sdfErrorsException.attr("errors") = pybind11::cast(e.Errors());
       // This has to be called last since it's the call that sets
       // PyErr_SetString.
+#if PYBIND11_VERSION_HEX >= 0x020C0000
+      pybind11::set_error(sdfErrorsException, e.what());
+#else
       sdfErrorsException(e.what());
+#endif
     }
   });
 

python/src/sdf/pyLink.cc

@@ -162,6 +162,13 @@ void defineLink(pybind11::object module)
     .def("set_enable_wind",
          &sdf::Link::SetEnableWind,
          "Set whether this link should be subject to wind.")
+    .def("enable_gravity",
+         &sdf::Link::EnableGravity,
+         "Check if this link should be subject to gravity. "
+         "If true, this link should be affected by gravity.")
+    .def("set_enable_gravity",
+         &sdf::Link::SetEnableGravity,
+         "Set whether this link should be subject to gravity.")
     .def("add_collision",
          &sdf::Link::AddCollision,
          "Add a collision to the link.")