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Spec 1.12: link_state, joint_state changes #1461

Merged
merged 21 commits into from
Aug 28, 2024
Merged

Spec 1.12: link_state, joint_state changes #1461

merged 21 commits into from
Aug 28, 2024

Commits on Jul 8, 2024

  1. Spec 1.12: add _state suffix to state subelements 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Jul 8, 2024
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  2. Define //joint_state in joint_state.sdf 

    Include joint_state.sdf from model_state.sdf
and state.sdf for //world/joint states.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Jul 8, 2024
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  3. Update Migration guide 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Jul 8, 2024
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  4. Merge branch 'main' into scpeters/state_1_12_suffix

    @scpeters
    scpeters authored Jul 8, 2024
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Commits on Jul 9, 2024

  1. Merge branch 'main' into scpeters/state_1_12_suffix

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    scpeters authored Jul 9, 2024
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Commits on Jul 10, 2024

  1. Merge branch 'main' into scpeters/state_1_12_suffix

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    scpeters authored Jul 10, 2024
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Commits on Jul 20, 2024

  1. update migration guide 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
    @scpeters
    scpeters committed Jul 20, 2024
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  2. joint_state: add axis[2]?_state, deprecate angle 

    This deprecates the //joint_state/angle element in
favor of a joint state specification that supports
multi-axis joints by mirroring the //joint/axis and
//joint/axis2 elements with
* //joint_state/axis_state
* //joint_state/axis2_state

Each axis state can specify position, velocity, and
acceleration, each with an optional @Degrees attribute.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
    @scpeters
    scpeters committed Jul 20, 2024
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  3. link_state: add vector3 linear/angular components 

    Deprecate the //link_state/velocity and
//link_state/acceleration elements since the `pose`
type is not well-suited to represent vector6 data.
Add pairs of vector3 angular_* and linear_* elements
for velocity and acceleration to replace the pose-typed
elements.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
    @scpeters
    scpeters committed Jul 20, 2024
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Commits on Aug 19, 2024

  1. Merge branch 'main' into scpeters/state_1_12

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    scpeters committed Aug 19, 2024
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Commits on Aug 20, 2024

  1. Add //link_state/angular_*/@Degrees 

    also rephrase some element descriptions

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 20, 2024
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  2. Add //link_state/*_wrench, //joint_state/*/effort 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 20, 2024
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  3. Specify model_state within a model 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 20, 2024
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Commits on Aug 22, 2024

  1. nested_model test: Update state syntax 

    Also use a larger values in an angular_velocity.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 22, 2024
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Commits on Aug 26, 2024

  1. Add //world/include/model_state 

    update migration guide

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 26, 2024
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  2. Merge branch 'sdf15' into scpeters/state_1_12

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    scpeters authored Aug 26, 2024
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Commits on Aug 27, 2024

  1. Merge branch 'sdf15' into scpeters/state_1_12

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    scpeters authored Aug 27, 2024
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Commits on Aug 28, 2024

  1. Clarify element path in migration guide 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 28, 2024
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  2. Use force, torque instead of angular/linear_wrench 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 28, 2024
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  3. Merge remote-tracking branch 'origin/sdf15' into scpeters/state_1_12

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    scpeters committed Aug 28, 2024
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  4. Clarify that degrees is only for rotational axes 

    Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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    scpeters committed Aug 28, 2024
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