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Spec 1.12: link_state, joint_state changes #1461

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merged 21 commits into from
Aug 28, 2024
Merged

Spec 1.12: link_state, joint_state changes #1461

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b979877
Spec 1.12: add _state suffix to state subelements
scpeters Feb 27, 2024
f5d2571
Define //joint_state in joint_state.sdf
scpeters Jul 7, 2024
f84706e
Update Migration guide
scpeters Jul 8, 2024
e577e15
Merge branch 'main' into scpeters/state_1_12_suffix
scpeters Jul 8, 2024
a6fccc3
Merge branch 'main' into scpeters/state_1_12_suffix
scpeters Jul 9, 2024
53a5378
Merge branch 'main' into scpeters/state_1_12_suffix
scpeters Jul 10, 2024
9af6119
update migration guide
scpeters Jul 20, 2024
13229e0
joint_state: add axis[2]?_state, deprecate angle
scpeters Jul 7, 2024
a0e86e6
link_state: add vector3 linear/angular components
scpeters Jul 8, 2024
f0e5536
Merge branch 'main' into scpeters/state_1_12
scpeters Aug 19, 2024
d7a887f
Add //link_state/angular_*/@degrees
scpeters Aug 20, 2024
4e07a21
Add //link_state/*_wrench, //joint_state/*/effort
scpeters Aug 20, 2024
a266d6b
Specify model_state within a model
scpeters Aug 20, 2024
56e59f8
nested_model test: Update state syntax
scpeters Aug 22, 2024
de15ea6
Add //world/include/model_state
scpeters Aug 26, 2024
17c8efd
Merge branch 'sdf15' into scpeters/state_1_12
scpeters Aug 26, 2024
3ecd891
Merge branch 'sdf15' into scpeters/state_1_12
scpeters Aug 27, 2024
3fa2308
Clarify element path in migration guide
scpeters Aug 28, 2024
8521907
Use force, torque instead of angular/linear_wrench
scpeters Aug 28, 2024
107146b
Merge remote-tracking branch 'origin/sdf15' into scpeters/state_1_12
scpeters Aug 28, 2024
1b77045
Clarify that degrees is only for rotational axes
scpeters Aug 28, 2024
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41 changes: 41 additions & 0 deletions Migration.md
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Expand Up @@ -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**,
Expand All @@ -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
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116 changes: 115 additions & 1 deletion sdf/1.12/joint_state.sdf
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Expand Up @@ -9,11 +9,125 @@
<description>Name of the joint</description>
</attribute>

<element name="angle" type="double" default="0" required="+">
<element name="angle" type="double" default="0" required="-1">
<attribute name="axis" type="unsigned int" default="0" required="1">
<description>Index of the axis.</description>
</attribute>

<description>Angle of an axis</description>
</element>

<element name="axis_state" required="0">
<description>
Contains the state of the first joint axis.
</description>

<element name="position" type="double" default="0" required="0">
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Shouldn't position be a vector?

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this position element is under //joint_state/axis_state and represents the position of the first axis / degree of freedom. there is another position element under //joint_state/axis2_state for the second axis. this mirrors the specification of the //joint/axis and //joint/axis2 elements

<description>The position of the first joint axis.</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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.
</description>
</attribute>
</element>

<element name="velocity" type="double" default="0" required="0">
<description>The velocity of the first joint axis.</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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.
</description>
</attribute>
</element>

<element name="acceleration" type="double" default="0" required="0">
<description>The acceleration of the first joint axis.</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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.
</description>
</attribute>
</element>

<element name="effort" type="double" default="0" required="0">
<description>The effort applied at the first joint axis.</description>
</element>
</element>

<element name="axis2_state" required="0">
<description>
Contains the state of the second joint axis.
</description>

<element name="position" type="double" default="0" required="0">
<description>The position of the second joint axis.</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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.
</description>
</attribute>
</element>

<element name="velocity" type="double" default="0" required="0">
<description>The velocity of the second joint axis.</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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.
</description>
</attribute>
</element>

<element name="acceleration" type="double" default="0" required="0">
<description>The acceleration of the second joint axis.</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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.
</description>
</attribute>
</element>

<element name="effort" type="double" default="0" required="0">
<description>The effort applied at the second joint axis.</description>
</element>
</element>
</element> <!-- End Joint -->
54 changes: 51 additions & 3 deletions sdf/1.12/link_state.sdf
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Expand Up @@ -10,21 +10,69 @@
<description>Name of the link</description>
</attribute>

<element name="velocity" type="pose" default="0 0 0 0 0 0" required="0">
<element name="angular_velocity" type="vector3" default="0 0 0" required="0">
<description>Angular velocity of the link frame relative to the world frame.
</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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].
</description>
</attribute>
</element>

<element name="linear_velocity" type="vector3" default="0 0 0" required="0">
<description>Linear velocity of the link frame relative to the world frame.
</description>
</element>

<element name="velocity" type="pose" default="0 0 0 0 0 0" required="-1">
<description>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
</description>
</element>

<element name="acceleration" type="pose" default="0 0 0 0 0 0" required="0">
<element name="angular_acceleration" type="vector3" default="0 0 0" required="0">
<description>
Angular acceleration of the link frame relative to the world frame.
</description>

<attribute name="degrees" type="bool" default="false" required="0">
<description>
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].
</description>
</attribute>
</element>

<element name="linear_acceleration" type="vector3" default="0 0 0" required="0">
<description>
Linear acceleration of the link frame relative to the world frame.
</description>
</element>

<element name="acceleration" type="pose" default="0 0 0 0 0 0" required="-1">
<description>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
</description>
</element>

<element name="wrench" type="pose" default="0 0 0 0 0 0" required="0">
<element name="torque" type="vector3" default="0 0 0" required="0">
<description>Torque acting on the link relative to the world frame.
</description>
</element>

<element name="force" type="vector3" default="0 0 0" required="0">
<description>
Force acting on the link at the link frame relative to the world frame.
</description>
</element>

<element name="wrench" type="pose" default="0 0 0 0 0 0" required="-1">
<description>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
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3 changes: 3 additions & 0 deletions sdf/1.12/model.sdf
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Expand Up @@ -62,6 +62,7 @@
<description>URI to a resource, such as a model</description>
</element>

<include filename="model_state.sdf" required="0"/>
<include filename="pose.sdf" required="0"/>
<include filename="plugin.sdf" required="*"/>

Expand All @@ -85,6 +86,8 @@
</attribute>
</element>

<include filename="model_state.sdf" required="0"/>

<element name="enable_wind" type="bool" default="false" required="0">
<description>If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.</description>
</element>
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1 change: 1 addition & 0 deletions sdf/1.12/world.sdf
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Expand Up @@ -40,6 +40,7 @@
<description>Override the static value of the included entity.</description>
</element>

<include filename="model_state.sdf" required="0"/>
<include filename="pose.sdf" required="0"/>
<include filename="plugin.sdf" required="*"/>

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