Merge 15 -> main #1486
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Merge 15 -> main #1486
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Signed-off-by: Steve Peters <[email protected]>
* Bump to 15.0.0~pre1 --------- Signed-off-by: Steve Peters <[email protected]> Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Ian Chen <[email protected]>
* Fix symbol checking test The test that checks for prefixed binary symbols was broken when compiled with DebWithRelInfo since it was checking debugging symbols that broke the heuristics used. The commit fixes it doing a couple of actions: - Include the length of the namespace sdf: 3sdf - Check only dynamic symbols being exported Signed-off-by: Jose Luis Rivero <[email protected]> * Update test/integration/all_symbols_have_version.bash.in Co-authored-by: Steve Peters <[email protected]> Signed-off-by: Jose Luis Rivero <[email protected]> --------- Signed-off-by: Jose Luis Rivero <[email protected]> Co-authored-by: Steve Peters <[email protected]> (cherry picked from commit 904706c)
Signed-off-by: Steve Peters <[email protected]>
This makes several changes to the specification for the //state element in SDFormat 1.12. * //link_state changes: use pairs of vector3 datatypes to represent twist, spatial acceleration, and wrenches instead of a pose datatype, which distorts the angular values by interpreting them as Euler angles. The new elements for velocity and acceleration have names starting with linear_ or angular_, while the replacement for wrench is force and torque. * //joint_state changes: refactor //joint_state/angle and //joint_state/angle/@axis to //joint_state/axis_state/position and //joint_state/axis2_state/position. Also add velocity, acceleration, and effort to joint axis states. * degrees attribute: add a boolean degrees attribute to the //link_state/angular_* elements and joint axis position, velocity, and acceleration elements. When true, this causes data with units involving radians to interpret it as involving degrees instead. The attribute does not affect prismatic joints. * Specify model state within a model using //model/model_state or when including a model with //model/include/model_state and //state/include/model_state. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Jose Luis Rivero <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
scpeters
approved these changes
Oct 8, 2024
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➡️ Forward port
Port sdf15 to main
Branch comparison: main...sdf15
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)