From 8521907ece4d3b4772846f50b19207543f930280 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 27 Aug 2024 17:36:12 -0700 Subject: [PATCH] Use force, torque instead of angular/linear_wrench Signed-off-by: Steve Peters --- Migration.md | 8 +++---- sdf/1.12/link_state.sdf | 9 ++++---- test/integration/nested_model.cc | 36 ++++++++++++++++---------------- 3 files changed, 26 insertions(+), 27 deletions(-) diff --git a/Migration.md b/Migration.md index 444e788d0..5d036b71b 100644 --- a/Migration.md +++ b/Migration.md @@ -645,8 +645,8 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1. + `//link_state/angular_velocity` + `//link_state/linear_acceleration` + `//link_state/angular_acceleration` - + `//link_state/linear_wrench` - + `//link_state/angular_wrench` + + `//link_state/force` + + `//link_state/torque` 1. **model.sdf**: + `//model/model_state` @@ -683,8 +683,8 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1. and `//link_state/linear_velocity`. + `//link_state/acceleration` is deprecated in favor of `//link_state/angular_acceleration` and `//link_state/linear_acceleration`. - + `//link_state/wrench` is deprecated in favor of `//link_state/angular_wrench` - and `//link_state/linear_wrench`. + + `//link_state/wrench` is deprecated in favor of `//link_state/torque` + and `//link_state/force`. ## SDFormat specification 1.10 to 1.11 diff --git a/sdf/1.12/link_state.sdf b/sdf/1.12/link_state.sdf index 233c41bbb..d086e4856 100644 --- a/sdf/1.12/link_state.sdf +++ b/sdf/1.12/link_state.sdf @@ -61,15 +61,14 @@ - - Angular wrench (torque) acting on the link relative to the world frame. + + Torque acting on the link relative to the world frame. - + - Linear wrench (force) acting on the link at the link frame relative to - the world frame. + Force acting on the link at the link frame relative to the world frame. diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc index ed9bfb255..54859c95e 100644 --- a/test/integration/nested_model.cc +++ b/test/integration/nested_model.cc @@ -122,8 +122,8 @@ TEST(NestedModel, State) << " -0.1 5.0 -0.1" << " 0 0.006121 0" << " 0.012288 0 0.001751" - << " 0 0.006121 0" - << " 0 0 0" + << " 0 0.006121 0" + << " 0 0 0" << " " << " " << " 1 0 0.5 0 0 0" @@ -133,8 +133,8 @@ TEST(NestedModel, State) << " 0 0 0" << " 0 0.000674 0" << " -0.001268 0 0" - << " 0 0.000674 0" - << " 0 0 0" + << " 0 0.000674 0" + << " 0 0 0" << " " << " " << " 1 1 0.5 0 0 0" @@ -144,8 +144,8 @@ TEST(NestedModel, State) << " 0 0 0" << " 0 0 0" << " 0 0 0" - << " 0 0 0" - << " 0 0 0" + << " 0 0 0" + << " 0 0 0" << " " << " " << " " @@ -199,11 +199,11 @@ TEST(NestedModel, State) EXPECT_EQ(linkStateElem->Get("angular_acceleration"), gz::math::Vector3d(0.012288, 0, 0.001751)); EXPECT_FALSE(linkStateElem->HasElement("wrench")); - EXPECT_TRUE(linkStateElem->HasElement("angular_wrench")); - EXPECT_TRUE(linkStateElem->HasElement("linear_wrench")); - EXPECT_EQ(linkStateElem->Get("linear_wrench"), + EXPECT_TRUE(linkStateElem->HasElement("torque")); + EXPECT_TRUE(linkStateElem->HasElement("force")); + EXPECT_EQ(linkStateElem->Get("force"), gz::math::Vector3d(0, 0.006121, 0)); - EXPECT_EQ(linkStateElem->Get("angular_wrench"), + EXPECT_EQ(linkStateElem->Get("torque"), gz::math::Vector3d(0, 0, 0)); // nested model sdf @@ -244,11 +244,11 @@ TEST(NestedModel, State) nestedLinkStateElem->Get("angular_acceleration"), gz::math::Vector3d(-0.001268, 0, 0)); EXPECT_FALSE(nestedLinkStateElem->HasElement("wrench")); - EXPECT_TRUE(nestedLinkStateElem->HasElement("angular_wrench")); - EXPECT_TRUE(nestedLinkStateElem->HasElement("linear_wrench")); - EXPECT_EQ(nestedLinkStateElem->Get("linear_wrench"), + EXPECT_TRUE(nestedLinkStateElem->HasElement("torque")); + EXPECT_TRUE(nestedLinkStateElem->HasElement("force")); + EXPECT_EQ(nestedLinkStateElem->Get("force"), gz::math::Vector3d(0, 0.000674, 0)); - EXPECT_EQ(nestedLinkStateElem->Get("angular_wrench"), + EXPECT_EQ(nestedLinkStateElem->Get("torque"), gz::math::Vector3d(0, 0, 0)); // double nested model sdf @@ -287,11 +287,11 @@ TEST(NestedModel, State) nestedLinkStateElem->Get("angular_acceleration"), gz::math::Vector3d(0, 0, 0)); EXPECT_FALSE(nestedLinkStateElem->HasElement("wrench")); - EXPECT_TRUE(nestedLinkStateElem->HasElement("angular_wrench")); - EXPECT_TRUE(nestedLinkStateElem->HasElement("linear_wrench")); - EXPECT_EQ(nestedLinkStateElem->Get("linear_wrench"), + EXPECT_TRUE(nestedLinkStateElem->HasElement("torque")); + EXPECT_TRUE(nestedLinkStateElem->HasElement("force")); + EXPECT_EQ(nestedLinkStateElem->Get("force"), gz::math::Vector3d(0, 0, 0)); - EXPECT_EQ(nestedLinkStateElem->Get("angular_wrench"), + EXPECT_EQ(nestedLinkStateElem->Get("torque"), gz::math::Vector3d(0, 0, 0)); }