Merge 13 ➡️ 14 #1359
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Merge 13 ➡️ 14 #1359
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When converting from URDF to SDFormat, some links without an <inertial> block or a small mass may be dropped with only debug messages in a log file, which are easily missed. This makes the following changes: * When a massless link in the middle of a kinematic chain is successfully merged to its parent by fixed joint reduction, fix bug that was dropping the massless link's child links and joints. * Print no warnings or debug messages when a massless link is successfully merged to a parent by fixed joint reduction. * Promote debug messages to warnings / errors when links are dropped to improve visibility. Improve message clarity and suggest fixes to the user. * Change massless threshold test to `> 0` instead of being within a 1e-6 tolerance of 0. * Add unit and integration tests. Related to #199 and #1007. (cherry picked from commit 6ffe669) Signed-off-by: Aaron Chong <[email protected]> Co-authored-by: Steve Peters <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge sdf9 ➡️ sdf12
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Voldivh <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Use a compile definition for setting `GZ_CONFIG_PATH`
Signed-off-by: Voldivh <[email protected]>
Install ruby commands on Windows
* Use on `push` only on stable branches to avoid duplicate runs * Update project automation Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge sdf9 ➡️ sdf12
Static builds of sdformat failbecause we are creating the using_parser_urdf target and linking it against the core library target, which is then exported. When the core library is built as a static library, CMake requires that other targets linked against it are exported as well (see https://stackoverflow.com/a/71080574/283225 case (2)). The solution in this PR is to compile the URDF sources directly into the core library instead of creating an extra target. While working on this, I realized we could create a static library that includes all the extra sources needed for tests instead of building each test with its own extra sources. I believe this will marginally improve compilation time, but more importantly, I think it cleans up the CMake file and will make adding tests easier. --------- Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
* Cherry-pick the python3 embedSdf script and tests (#884) These won't be used as part of the cmake build on this branch, but are useful for generating the same file from bazel. Co-authored-by: Bi0T1N <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Signed-off-by: Michael Carroll <[email protected]> * Improvements to embedSdf script Signed-off-by: Michael Carroll <[email protected]> * Update sdf/CMakeLists.txt Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> * Update bazel files Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Add utils back to parser Signed-off-by: Michael Carroll <[email protected]> * Fix gz_TEST Signed-off-by: Michael Carroll <[email protected]> * Ignore pycache folders Signed-off-by: Michael Carroll <[email protected]> * Fix parser_TEST Signed-off-by: Michael Carroll <[email protected]> * Bazel nits Signed-off-by: Michael Carroll <[email protected]> * Fix path logic Signed-off-by: Michael Carroll <[email protected]> * Fix visibility Signed-off-by: Michael Carroll <[email protected]> * Fix strings Signed-off-by: Michael Carroll <[email protected]> * Use standard vars Signed-off-by: Michael Carroll <[email protected]> * Fix string conversions Signed-off-by: Michael Carroll <[email protected]> * Fix string conversions Signed-off-by: Michael Carroll <[email protected]> * Fix embedded sdf Signed-off-by: Michael Carroll <[email protected]> * Fix converter test Signed-off-by: Michael Carroll <[email protected]> * Lint Signed-off-by: Michael Carroll <[email protected]> * Update bazel files Signed-off-by: Michael Carroll <[email protected]> * Add detail prefix Signed-off-by: Michael Carroll <[email protected]> * Fix test path Signed-off-by: Michael Carroll <[email protected]> * Set homepath on Windows Signed-off-by: Michael Carroll <[email protected]> --------- Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Bi0T1N <[email protected]> Co-authored-by: Bi0T1N <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge sdf9 ➡️ sdf12
Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge sdf12 ➡️ sdf13
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## sdf14 #1359 +/- ##
==========================================
- Coverage 92.41% 92.40% -0.01%
==========================================
Files 134 134
Lines 17669 17674 +5
==========================================
+ Hits 16328 16332 +4
- Misses 1341 1342 +1 ☔ View full report in Codecov by Sentry. |
iche033
approved these changes
Jan 26, 2024
scpeters
approved these changes
Jan 27, 2024
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➡️ Forward port
Port
sdf13tosdf14Branch comparison: sdf14...sdf13
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)