Merge pull request gazebosim#1337 from gazebosim/azeey/14_to_main

Merge sdf14 ➡️  main

.github/ci/packages.apt

@@ -12,4 +12,3 @@ python3-gz-math7
 python3-psutil
 python3-pybind11
 python3-pytest
-ruby-dev

.github/workflows/ci.yml

@@ -3,25 +3,16 @@ name: Ubuntu
 on: [push, pull_request]
 
 jobs:
-  focal-ci:
+  jammy-ci:
     runs-on: ubuntu-latest
-    name: Ubuntu Focal CI
+    name: Ubuntu Jammy CI
     steps:
       - name: Checkout
         uses: actions/checkout@v3
       - name: Compile and test
         id: ci
-        uses: gazebo-tooling/action-gz-ci@focal
+        uses: gazebo-tooling/action-gz-ci@jammy
         with:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
-  jammy-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Jammy CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Compile and test
-        id: ci
-        uses: gazebo-tooling/action-gz-ci@jammy

CMakeLists.txt

@@ -110,15 +110,6 @@ if (BUILD_SDF)
     gz_build_warning("Python psutil package not found. Memory leak tests will be skipped")
   endif()
 
-  ################################################
-  # Find ruby executable to produce xml schemas
-  find_program(RUBY ruby)
-  if (NOT RUBY)
-    gz_build_error ("Ruby version 1.9 is needed to build xml schemas")
-  else()
-    message(STATUS "Found ruby executable: ${RUBY}")
-  endif()
-
   ########################################
   # Find gz math
   # Set a variable for generating ProjectConfig.cmake
@@ -133,8 +124,7 @@ if (BUILD_SDF)
   ########################################
   # Python interfaces
   if (NOT PYTHON3_FOUND)
-    GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
-    message (STATUS "Searching for Python - not found.")
+    GZ_BUILD_ERROR("Python is missing - Needed to build/embed xml schemas")
   else()
     message (STATUS "Searching for Python - found version ${Python3_VERSION}.")
 

Changelog.md

@@ -1,9 +1,98 @@
 ## libsdformat 14.X
 
-### libsdformat 14.0.0 (202X-XX-XX)
+### libsdformat 14.0.0 (2023-09-29)
+
+1. Add missing conda dependencies
+    * [Pull request #1324](https://github.com/gazebosim/sdformat/pull/1324)
+
+1. Correct spelling of Python variable in CMake
+    * [Pull request #1319](https://github.com/gazebosim/sdformat/pull/1319)
+
+1. Remove hard dependence on ruby
+    * [Pull request #1323](https://github.com/gazebosim/sdformat/pull/1323)
+
+1. Documentation fixes
+    * [Pull request #1322](https://github.com/gazebosim/sdformat/pull/1322)
+
+1. Automatic Moment of Inertia Calculations for Basic Shapes
+    * [Pull request #1299](https://github.com/gazebosim/sdformat/pull/1299)
+    * [Pull request #1304](https://github.com/gazebosim/sdformat/pull/1304)
+    * [Pull request #1317](https://github.com/gazebosim/sdformat/pull/1317)
+    * [Pull request #1325](https://github.com/gazebosim/sdformat/pull/1325)
+
+1. Joint axis mimic constraints: add `sdf` element
+    * [Pull request #1166](https://github.com/gazebosim/sdformat/pull/1166)
+
+1. Add python bindings for `sdf::Element` and `sdf::Param`
+    * [Pull request #1303](https://github.com/gazebosim/sdformat/pull/1303)
+
+1. World: handle name collisions like Model
+    * [Pull request #1311](https://github.com/gazebosim/sdformat/pull/1311)
+
+1. ign -> gz
+    * [Pull request #1301](https://github.com/gazebosim/sdformat/pull/1301)
+
+1. Copy 1.10 spec to 1.11 for sdformat14
+    * [Pull request #1298](https://github.com/gazebosim/sdformat/pull/1298)
+
+1. Make sure the deprecated kSdfScopeDelimiter still works
+    * [Pull request #1305](https://github.com/gazebosim/sdformat/pull/1305)
+
+1. Python script to replace ruby xmlschema generator
+    * [Pull request #1232](https://github.com/gazebosim/sdformat/pull/1232)
+
+1. Make dataPtr private in sdf::Plugin
+    * [Pull request #1268](https://github.com/gazebosim/sdformat/pull/1268)
+
+1. Fix GSG violations on non-trivially destructible types
+    * [Pull request #1264](https://github.com/gazebosim/sdformat/pull/1264)
+
+1. Port embedSdf script from Ruby to Python3 and provide unittests
+    * [Pull request #884](https://github.com/gazebosim/sdformat/pull/884)
+    * [Pull request #1297](https://github.com/gazebosim/sdformat/pull/1297)
+
+1. World: sdfwarns to sdf::Errors when warnings policy set to sdf::EnforcementPolicy::ERR
+    * [Pull request #1131](https://github.com/gazebosim/sdformat/pull/1131)
+
+1. Add sdf::Errors output to API methods
+    * [Pull request #1098](https://github.com/gazebosim/sdformat/pull/1098)
+    * [Pull request #1095](https://github.com/gazebosim/sdformat/pull/1095)
+
+1. ⬆️  Bump main to 14.0.0~pre1
+    * [Pull request #1104](https://github.com/gazebosim/sdformat/pull/1104)
 
 ## libsdformat 13.X
 
+### libsdformat 13.6.0 (2023-08-30)
+
+1. Use relative path in an urdf include to avoid confusion between internal and system headers
+    * [Pull request #1259](https://github.com/gazebosim/sdformat/pull/1259)
+
+1. parser.cc update calls to use sdf::Errors output
+    * [Pull request #1294](https://github.com/gazebosim/sdformat/pull/1294)
+
+1. Fix deeply nested merge-include for custom parsed files
+    * [Pull request #1293](https://github.com/gazebosim/sdformat/pull/1293)
+
+1. Updated findfile() to search localpath first
+    * [Pull request #1292](https://github.com/gazebosim/sdformat/pull/1292)
+
+1. World requires a scene and atmosphere
+    * [Pull request #1308](https://github.com/gazebosim/sdformat/pull/1308)
+
+1. Infrastructure
+    * [Pull request #1307](https://github.com/gazebosim/sdformat/pull/1307)
+    * [Pull request #1306](https://github.com/gazebosim/sdformat/pull/1306)
+
+1. Remove robot not found error when parsing fails
+    * [Pull request #1290](https://github.com/gazebosim/sdformat/pull/1290)
+
+1. Make some sdfdbg messages sdfmsgs
+    * [Pull request #1288](https://github.com/gazebosim/sdformat/pull/1288)
+
+1. Minor clean up of tests
+    * [Pull request #1289](https://github.com/gazebosim/sdformat/pull/1289)
+
 ### libsdformat 13.5.0 (2023-05-18)
 
 1. Added projector Python wrapper

Migration.md

@@ -23,9 +23,17 @@ but with improved human-readability..
 ### Modifications
 
 1. World class only renames frames with name collisions if original file version
-   is 1.6 or earlier. Name collisions in newer files will cause DUPLICATE_NAME
+   is 1.6 or earlier. Name collisions in newer files will cause `DUPLICATE_NAME`
    errors, which now matches the behavior of the Model class.
 
+1. Python is now required to build libsdformat instead of Ruby.
+
+1. **sdf/ParserConfig.hh** The following new functions were added to support automatic calculation of moments of inertia.
+    + ConfigureResolveAutoInertials CalculateInertialConfiguration() const
+    + void SetCalculateInertialConfiguration(ConfigureResolveAutoInertials)
+    + void RegisterCustomInertiaCalc(CustomInertiaCalculator)
+    + const CustomInertiaCalculator &CustomInertiaCalc() const
+
 ## libsdformat 12.x to 13.x
 
 ### Additions
@@ -38,7 +46,7 @@ but with improved human-readability..
 
 1. ParserConfig defaults to WARN instead of LOG when parsing unrecognized
    elements.
-2. Updated search order for `sdf::findFile()` making local path (current directory) the first to be searched. 
+2. Updated search order for `sdf::findFile()` making local path (current directory) the first to be searched.
 
 ### Deprecations
 
@@ -584,7 +592,20 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
     + `//mimic/offset`: parameter representing offset to follower position.
     + `//mimic/reference`: parameter representing reference for leader position before applying the multiplier.
 
-1. **joint.sdf**:
+1. **inertial.sdf**: A new attribute `//inertial/@auto` has been added
+   to specify whether the moment of inertia of a link should be calculated
+   automatically. In addition, the following elements have been added:
+   + `//inertial/density`: Common mass density of all collision geometries.
+   + `//inertial/auto_inertia_params`: Container for custom parameters passed
+     to the moment of inertia calculator.
+
+1. **collision.sdf**: A new element `//collision/density` has been added
+   to specify the density of a material for automatic calculation of the moment
+   of inertia of the parent link. This parameter overrides the value in
+   `//inertial/density` of the parent link if specified. In addition,
+   `//collision/auto_inertia_params` can be used to override
+   `//inertial/auto_inertia_params` of the parent link.
+
 ## SDFormat specification 1.9 to 1.10
 
 ### Additions

README.md

@@ -120,12 +120,22 @@ is recommended for most users.
 
 ## UNIX
 
-#### Build from Source
+### Prerequisites
+
+Clone the repository
+```sh
+git clone https://github.com/gazebosim/sdformat -b sdf<#>
+```
+Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+which version you need.
+
+### Build from Source
 
 Standard installation can be performed in UNIX systems using the following
 steps:
 
 ```sh
+cd sdformat
 mkdir build
 cd build
 cmake ..  # Consider specifying -DCMAKE_INSTALL_PREFIX=...
@@ -203,7 +213,7 @@ conda activate gz-ws
 
 Install prerequisites:
 ```
-conda install urdfdom --channel conda-forge
+conda install tinyxml2 urdfdom --channel conda-forge
 ```
 
 Install Gazebo dependencies:
@@ -215,7 +225,7 @@ conda search libsdformat --channel conda-forge --info
 
 Install dependencies, replacing `<#>` with the desired versions:
 ```
-conda install libgz-math<#> libgz-tools<#> --channel conda-forge
+conda install libgz-cmake<#> libgz-math<#> libgz-tools<#> libgz-utils<#> --channel conda-forge
 ```
 
 ### Build from Source

include/sdf/Box.hh

@@ -17,8 +17,11 @@
 #ifndef SDF_BOX_HH_
 #define SDF_BOX_HH_
 
+#include <optional>
+
 #include <gz/math/Box.hh>
 #include <gz/math/Vector3.hh>
+#include <gz/math/Inertial.hh>
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
@@ -65,6 +68,14 @@ namespace sdf
     /// \return A reference to a gz::math::Boxd object.
     public: gz::math::Boxd &Shape();
 
+    /// \brief Calculate and return the Inertial values for the Box. In order
+    /// to calculate the inertial properties, the function mutates the object
+    /// by updating its material properties.
+    /// \param[in] _density Density of the box in kg/m^3
+    /// \return A std::optional with gz::math::Inertiald object or std::nullopt
+    public: std::optional<gz::math::Inertiald>
+            CalculateInertial(double _density);
+
     /// \brief Create and return an SDF element filled with data from this
     /// box.
     /// Note that parameter passing functionality is not captured with this

include/sdf/Capsule.hh

@@ -17,7 +17,10 @@
 #ifndef SDF_CAPSULE_HH_
 #define SDF_CAPSULE_HH_
 
+#include <optional>
+
 #include <gz/math/Capsule.hh>
+#include <gz/math/Inertial.hh>
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
@@ -72,6 +75,14 @@ namespace sdf
     /// \return A reference to a gz::math::Capsuled object.
     public: gz::math::Capsuled &Shape();
 
+    /// \brief Calculate and return the Inertial values for the Capsule.
+    /// In order to calculate the inertial properties, the function
+    /// mutates the object by updating its material properties.
+    /// \param[in] _density Density of the capsule in kg/m^3
+    /// \return A std::optional with gz::math::Inertiald object or std::nullopt
+    public: std::optional<gz::math::Inertiald> CalculateInertial(
+      double _density);
+
     /// \brief Create and return an SDF element filled with data from this
     /// capsule.
     /// Note that parameter passing functionality is not captured with this

include/sdf/Collision.hh

@@ -20,12 +20,15 @@
 #include <memory>
 #include <string>
 #include <gz/math/Pose3.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Inertial.hh>
 #include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
+#include "sdf/ParserConfig.hh"
 
 namespace sdf
 {
@@ -75,6 +78,26 @@ namespace sdf
     /// \param[in] _name Name of the collision.
     public: void SetName(const std::string &_name);
 
+    /// \brief Get the density of the collision.
+    /// \return Density of the collision.
+    public: double Density() const;
+
+    /// \brief Set the density of the collision.
+    /// \param[in] _density Density of the collision.
+    public: void SetDensity(double _density);
+
+    /// \brief Get the ElementPtr to the <auto_inertia_params> element
+    /// This element can be used as a parent element to hold user-defined
+    /// params for the custom moment of inertia calculator.
+    /// \return ElementPtr object for the <auto_inertia_params> element.
+    public: sdf::ElementPtr AutoInertiaParams() const;
+
+    /// \brief Function to set the auto inertia params using a
+    /// sdf ElementPtr object
+    /// \param[in] _autoInertiaParams ElementPtr to <auto_inertia_params>
+    /// element
+    public: void SetAutoInertiaParams(const sdf::ElementPtr _autoInertiaParams);
+
     /// \brief Get a pointer to the collisions's geometry.
     /// \return The collision's geometry.
     public: const Geometry *Geom() const;
@@ -119,6 +142,16 @@ namespace sdf
     /// \return SemanticPose object for this link.
     public: sdf::SemanticPose SemanticPose() const;
 
+    /// \brief Calculate and return the MassMatrix for the collision
+    /// \param[out] _errors A vector of Errors objects. Each errors contains an
+    /// Error code and a message. An empty errors vector indicates no errors
+    /// \param[in] _config Custom parser configuration
+    /// \param[out] _inertial An inertial object which will be set with the
+    /// calculated inertial values
+    public: void CalculateInertial(sdf::Errors &_errors,
+                                  gz::math::Inertiald &_inertial,
+                                  const ParserConfig &_config);
+
     /// \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