Merge 15 -> main #1580
Merged
Merge 15 -> main #1580
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
* Prepare for sdf 14.6.0 Signed-off-by: Nate Koenig <natekoenig@gmail.com> --------- Signed-off-by: Nate Koenig <natekoenig@gmail.com>
This avoids an unnecessary CMake warning on builds where tests are disabled, such as [sdformat_vendor](https://github.com/gazebo-release/sdformat_vendor) Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> (cherry picked from commit 9661794)
#1422) The ability to automatically compute inertial values by setting the `//inertial/@auto` attribute to true is very convenient, but it is difficult to see what inertial values were computed. This adds an `--expand-auto-inertials` argument to `gz sdf --print` to show the auto-computed inertial values in the printed output. Note that it does not compute inertial values for mesh shapes. To enable this behavior, a new enum value SAVE_CALCULATION_IN_ELEMENT is added to ConfigureResolveAutoInertials in ParserConfig.hh, and the Link will store auto-computed inertial values directly in its sdf::Element when this configuration is set. Signed-off-by: Steve Peters <scpeters@openrobotics.org> (cherry picked from commit 3f84210)
Support auto-inertia computation using mass and density. Implemented based on the suggestions in #1482. Inertia is first auto resolved from all collisions as usual. If mass is specified, we normalize the inertia to get unit inertia, then scaling is applied to match the desired mass. --------- Signed-off-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> (cherry picked from commit aaadeea)
…1530) Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
If CalculateInertial fails to find valid inertial values, report an error by default, but allow users to choose a policy that uses default inertial values with a warning instead of a hard failure. The policy is used in Collision::CalculateInertial and tested. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 39826d4)
The value of this variable may change if other code paths call find_package(Python3), so move the warning to be co-located with the add_subdirectory call. Signed-off-by: Steve Peters <scpeters@openrobotics.org> (cherry picked from commit 25c4dc0)
Part of gazebo-tooling/release-tools#1288 Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
This adds AxisAlignedBox support for SDF geometries. Now each volumetric geometry type such as Box, Capsule, Cone, Cylinder, Ellipsoid, Sphere, and Mesh has an AxisAlignedBox() function that computes its bounding box from the geometry dimensions. The Geometry class uses these functions to determine the correct AABB, allowing a custom calculator for meshes , which is a special case since no mesh loading is performed in the sdf::Mesh class. Signed-off-by: Gabriel Pacheco <gabriel.fpacheco@gmail.com> (cherry picked from commit e073ffa)
Check embedSdf.py return code and print stderr on failure. Partial backport of #1549. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Silvio Traversaro <silvio@traversaro.it> Co-authored-by: Steve Peters <scpeters@openrobotics.org> (cherry picked from commit 71fe504)
Merge 14 -> 15
6 tasks
azeey
approved these changes
Aug 13, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
7 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
➡️ Forward port
Port sdf15 to main
Part of gazebosim/gz-jetty#17, gazebosim/gz-jetty#112.
Branch comparison: main...sdf15
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)