diff --git a/Migration.md b/Migration.md
index 341816cf2..5d036b71b 100644
--- a/Migration.md
+++ b/Migration.md
@@ -628,6 +628,33 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
## SDFormat specification 1.11 to 1.12
+### Additions
+
+1. **joint_state.sdf**:
+ + `//joint_state/axis_state/position`
+ + `//joint_state/axis_state/velocity`
+ + `//joint_state/axis_state/acceleration`
+ + `//joint_state/axis_state/effort`
+ + `//joint_state/axis2_state/position`
+ + `//joint_state/axis2_state/velocity`
+ + `//joint_state/axis2_state/acceleration`
+ + `//joint_state/axis2_state/effort`
+
+1. **link_state.sdf**:
+ + `//link_state/linear_velocity`
+ + `//link_state/angular_velocity`
+ + `//link_state/linear_acceleration`
+ + `//link_state/angular_acceleration`
+ + `//link_state/force`
+ + `//link_state/torque`
+
+1. **model.sdf**:
+ + `//model/model_state`
+ + `//model/include/model_state`
+
+1. **world.sdf**:
+ + `//world/include/model_state`
+
### Modifications
1. **state.sdf**, **model_state.sdf**, **joint_state.sdf**, **link_state.sdf**,
@@ -645,6 +672,20 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
`//world/joint` and `//state/insertions/joint` can represent inserted
`//world/joint` elements.
+### Deprecations
+
+1. **joint_state.sdf**:
+ + `//joint_state/angle` is deprecated in favor of `//joint_state/axis_state/position`
+ and `//joint_state/axis2_state/position`.
+
+1. **link_state.sdf**:
+ + `//link_state/velocity` is deprecated in favor of `//link_state/angular_velocity`
+ 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/torque`
+ and `//link_state/force`.
+
## SDFormat specification 1.10 to 1.11
### Additions
diff --git a/sdf/1.12/joint_state.sdf b/sdf/1.12/joint_state.sdf
index 2b64d832c..096b56965 100644
--- a/sdf/1.12/joint_state.sdf
+++ b/sdf/1.12/joint_state.sdf
@@ -9,11 +9,125 @@
Name of the joint
-
+
Index of the axis.
Angle of an axis
+
+
+
+ Contains the state of the first joint axis.
+
+
+
+ The position of the first joint axis.
+
+
+
+ If this is a rotational axis and this attribute is true,
+ the joint position is expressed in units of degrees [deg],
+ otherwise it is expressed in radians [rad].
+ If this axis is translational (such as a prismatic joint), the
+ units will be interpreted in meters [m] regardless of the value of
+ this attribute.
+
+
+
+
+
+ The velocity of the first joint axis.
+
+
+
+ If this is a rotational axis and this attribute is true,
+ the joint velocity is expressed in units of degrees per
+ second [deg/s], otherwise it is expressed in radians per second
+ [rad/s].
+ If this axis is translational (such as a prismatic joint), the
+ units will be interpreted in meters per second [m/s] regardless of
+ the value of this attribute.
+
+
+
+
+
+ The acceleration of the first joint axis.
+
+
+
+ If this is a rotational axis and this attribute is true,
+ the joint acceleration is expressed in units of degrees per
+ second per second [deg/s^2], otherwise it is expressed in radians per
+ second per second [rad/s^2].
+ If this axis is translational (such as a prismatic joint), the
+ units will be interpreted in meters per second per second [m/s^2]
+ regardless of the value of this attribute.
+
+
+
+
+
+ The effort applied at the first joint axis.
+
+
+
+
+
+ Contains the state of the second joint axis.
+
+
+
+ The position of the second joint axis.
+
+
+
+ If this is a rotational axis and this attribute is true,
+ the joint position is expressed in units of degrees [deg],
+ otherwise it is expressed in radians [rad].
+ If this axis is translational (such as a prismatic joint), the
+ units will be interpreted in meters [m] regardless of the value of
+ this attribute.
+
+
+
+
+
+ The velocity of the second joint axis.
+
+
+
+ If this is a rotational axis and this attribute is true,
+ the joint velocity is expressed in units of degrees per
+ second [deg/s], otherwise it is expressed in radians per second
+ [rad/s].
+ If this axis is translational (such as a prismatic joint), the
+ units will be interpreted in meters per second [m/s] regardless of
+ the value of this attribute.
+
+
+
+
+
+ The acceleration of the second joint axis.
+
+
+
+ If this is a rotational axis and this attribute is true,
+ the joint acceleration is expressed in units of degrees per
+ second per second [deg/s^2], otherwise it is expressed in radians per
+ second per second [rad/s^2].
+ If this axis is translational (such as a prismatic joint), the
+ units will be interpreted in meters per second per second [m/s^2]
+ regardless of the value of this attribute.
+
+
+
+
+
+ The effort applied at the second joint axis.
+
+
diff --git a/sdf/1.12/link_state.sdf b/sdf/1.12/link_state.sdf
index e59d9e0f1..d086e4856 100644
--- a/sdf/1.12/link_state.sdf
+++ b/sdf/1.12/link_state.sdf
@@ -10,21 +10,69 @@
Name of the link
-
+
+ Angular velocity of the link frame relative to the world frame.
+
+
+
+
+ If true, the angular velocity is expressed in units of degrees per
+ second [deg/s], otherwise it is expressed in radians per second [rad/s].
+
+
+
+
+
+ Linear velocity of the link frame relative to the world frame.
+
+
+
+
Velocity of the link. The x, y, z components of the pose
correspond to the linear velocity of the link, and the roll, pitch, yaw
components correspond to the angular velocity of the link
-
+
+
+ Angular acceleration of the link frame relative to the world frame.
+
+
+
+
+ If true, the angular acceleration is expressed in units of degrees per
+ second per second [deg/s^2], otherwise it is expressed in radians per
+ second per second [rad/s^2].
+
+
+
+
+
+
+ Linear acceleration of the link frame relative to the world frame.
+
+
+
+
Acceleration of the link. The x, y, z components of the pose
correspond to the linear acceleration of the link, and the roll,
pitch, yaw components correspond to the angular acceleration of the link
-
+
+ Torque acting on the link relative to the world frame.
+
+
+
+
+
+ Force acting on the link at the link frame relative to the world frame.
+
+
+
+
Force and torque applied to the link. The x, y, z components
of the pose correspond to the force applied to the link, and the roll,
pitch, yaw components correspond to the torque applied to the link
diff --git a/sdf/1.12/model.sdf b/sdf/1.12/model.sdf
index 57dc83a01..de8b43130 100644
--- a/sdf/1.12/model.sdf
+++ b/sdf/1.12/model.sdf
@@ -62,6 +62,7 @@
URI to a resource, such as a model
+
@@ -85,6 +86,8 @@
+
+
If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.
diff --git a/sdf/1.12/world.sdf b/sdf/1.12/world.sdf
index 6235e193b..d39ad8819 100644
--- a/sdf/1.12/world.sdf
+++ b/sdf/1.12/world.sdf
@@ -40,6 +40,7 @@
Override the static value of the included entity.
+
diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc
index 813d04021..54859c95e 100644
--- a/test/integration/nested_model.cc
+++ b/test/integration/nested_model.cc
@@ -118,25 +118,34 @@ TEST(NestedModel, State)
<< " 0 0 0.5 0 0 0"
<< " "
<< " 0 0 0.5 0 0 0"
- << " 0.001 0 0 0 0 0"
- << " 0 0.006121 0 0.012288 0 0.001751"
- << " 0 0.006121 0 0 0 0"
+ << " 0.001 0 0"
+ << " -0.1 5.0 -0.1"
+ << " 0 0.006121 0"
+ << " 0.012288 0 0.001751"
+ << " 0 0.006121 0"
+ << " 0 0 0"
<< " "
<< " "
<< " 1 0 0.5 0 0 0"
<< " "
<< " 1.25 0 0.5 0 0 0"
- << " 0 -0.001 0 0 0 0"
- << " 0 0.000674 0 -0.001268 0 0"
- << " 0 0.000674 0 0 0 0"
+ << " 0 -0.001 0"
+ << " 0 0 0"
+ << " 0 0.000674 0"
+ << " -0.001268 0 0"
+ << " 0 0.000674 0"
+ << " 0 0 0"
<< " "
<< " "
<< " 1 1 0.5 0 0 0"
<< " "
<< " 1.25 1 0.5 0 0 0"
- << " 0 0 0.001 0 0 0"
- << " 0 0 0 0 0 0"
- << " 0 0 0 0 0 0"
+ << " 0 0 0.001"
+ << " 0 0 0"
+ << " 0 0 0"
+ << " 0 0 0"
+ << " 0 0 0"
+ << " 0 0 0"
<< " "
<< " "
<< " "
@@ -175,15 +184,27 @@ TEST(NestedModel, State)
EXPECT_TRUE(linkStateElem->HasElement("pose"));
EXPECT_EQ(linkStateElem->Get("pose"),
gz::math::Pose3d(0, 0, 0.5, 0, 0, 0));
- EXPECT_TRUE(linkStateElem->HasElement("velocity"));
- EXPECT_EQ(linkStateElem->Get("velocity"),
- gz::math::Pose3d(0.001, 0, 0, 0, 0, 0));
- EXPECT_TRUE(linkStateElem->HasElement("acceleration"));
- EXPECT_EQ(linkStateElem->Get("acceleration"),
- gz::math::Pose3d(0, 0.006121, 0, 0.012288, 0, 0.001751));
- EXPECT_TRUE(linkStateElem->HasElement("wrench"));
- EXPECT_EQ(linkStateElem->Get("wrench"),
- gz::math::Pose3d(0, 0.006121, 0, 0, 0, 0));
+ EXPECT_FALSE(linkStateElem->HasElement("velocity"));
+ EXPECT_TRUE(linkStateElem->HasElement("angular_velocity"));
+ EXPECT_TRUE(linkStateElem->HasElement("linear_velocity"));
+ EXPECT_EQ(linkStateElem->Get("linear_velocity"),
+ gz::math::Vector3d(0.001, 0, 0));
+ EXPECT_EQ(linkStateElem->Get("angular_velocity"),
+ gz::math::Vector3d(-0.1, 5.0, -0.1));
+ EXPECT_FALSE(linkStateElem->HasElement("acceleration"));
+ EXPECT_TRUE(linkStateElem->HasElement("angular_acceleration"));
+ EXPECT_TRUE(linkStateElem->HasElement("linear_acceleration"));
+ EXPECT_EQ(linkStateElem->Get("linear_acceleration"),
+ gz::math::Vector3d(0, 0.006121, 0));
+ EXPECT_EQ(linkStateElem->Get("angular_acceleration"),
+ gz::math::Vector3d(0.012288, 0, 0.001751));
+ EXPECT_FALSE(linkStateElem->HasElement("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("torque"),
+ gz::math::Vector3d(0, 0, 0));
// nested model sdf
EXPECT_TRUE(modelStateElem->HasElement("model_state"));
@@ -206,15 +227,29 @@ TEST(NestedModel, State)
EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));
EXPECT_EQ(nestedLinkStateElem->Get("pose"),
gz::math::Pose3d(1.25, 0, 0.5, 0, 0, 0));
- EXPECT_TRUE(nestedLinkStateElem->HasElement("velocity"));
- EXPECT_EQ(nestedLinkStateElem->Get("velocity"),
- gz::math::Pose3d(0, -0.001, 0, 0, 0, 0));
- EXPECT_TRUE(nestedLinkStateElem->HasElement("acceleration"));
- EXPECT_EQ(nestedLinkStateElem->Get("acceleration"),
- gz::math::Pose3d(0, 0.000674, 0, -0.001268, 0, 0));
- EXPECT_TRUE(nestedLinkStateElem->HasElement("wrench"));
- EXPECT_EQ(nestedLinkStateElem->Get("wrench"),
- gz::math::Pose3d(0, 0.000674, 0, 0, 0, 0));
+ EXPECT_FALSE(nestedLinkStateElem->HasElement("velocity"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("angular_velocity"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("linear_velocity"));
+ EXPECT_EQ(nestedLinkStateElem->Get("linear_velocity"),
+ gz::math::Vector3d(0, -0.001, 0));
+ EXPECT_EQ(nestedLinkStateElem->Get("angular_velocity"),
+ gz::math::Vector3d(0, 0, 0));
+ EXPECT_FALSE(nestedLinkStateElem->HasElement("acceleration"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("angular_acceleration"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("linear_acceleration"));
+ EXPECT_EQ(
+ nestedLinkStateElem->Get("linear_acceleration"),
+ gz::math::Vector3d(0, 0.000674, 0));
+ EXPECT_EQ(
+ nestedLinkStateElem->Get("angular_acceleration"),
+ gz::math::Vector3d(-0.001268, 0, 0));
+ EXPECT_FALSE(nestedLinkStateElem->HasElement("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("torque"),
+ gz::math::Vector3d(0, 0, 0));
// double nested model sdf
EXPECT_TRUE(nestedModelStateElem->HasElement("model_state"));
@@ -235,15 +270,29 @@ TEST(NestedModel, State)
EXPECT_TRUE(nestedLinkStateElem->HasElement("pose"));
EXPECT_EQ(nestedLinkStateElem->Get("pose"),
gz::math::Pose3d(1.25, 1, 0.5, 0, 0, 0));
- EXPECT_TRUE(nestedLinkStateElem->HasElement("velocity"));
- EXPECT_EQ(nestedLinkStateElem->Get("velocity"),
- gz::math::Pose3d(0, 0, 0.001, 0, 0, 0));
- EXPECT_TRUE(nestedLinkStateElem->HasElement("acceleration"));
- EXPECT_EQ(nestedLinkStateElem->Get("acceleration"),
- gz::math::Pose3d(0, 0, 0, 0, 0, 0));
- EXPECT_TRUE(nestedLinkStateElem->HasElement("wrench"));
- EXPECT_EQ(nestedLinkStateElem->Get("wrench"),
- gz::math::Pose3d(0, 0, 0, 0, 0, 0));
+ EXPECT_FALSE(nestedLinkStateElem->HasElement("velocity"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("angular_velocity"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("linear_velocity"));
+ EXPECT_EQ(nestedLinkStateElem->Get("linear_velocity"),
+ gz::math::Vector3d(0, 0, 0.001));
+ EXPECT_EQ(nestedLinkStateElem->Get("angular_velocity"),
+ gz::math::Vector3d(0, 0, 0));
+ EXPECT_FALSE(nestedLinkStateElem->HasElement("acceleration"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("angular_acceleration"));
+ EXPECT_TRUE(nestedLinkStateElem->HasElement("linear_acceleration"));
+ EXPECT_EQ(
+ nestedLinkStateElem->Get("linear_acceleration"),
+ gz::math::Vector3d(0, 0, 0));
+ EXPECT_EQ(
+ nestedLinkStateElem->Get("angular_acceleration"),
+ gz::math::Vector3d(0, 0, 0));
+ EXPECT_FALSE(nestedLinkStateElem->HasElement("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("torque"),
+ gz::math::Vector3d(0, 0, 0));
}
////////////////////////////////////////