Merge branch 'sdf15' into patch-1

CMakeLists.txt

@@ -5,7 +5,7 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
 
-project (sdformat15 VERSION 15.1.1)
+project (sdformat15 VERSION 15.2.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software
@@ -95,9 +95,6 @@ if (BUILD_SDF)
       COMPONENTS Interpreter
       OPTIONAL_COMPONENTS Development
     )
-    if (NOT Python3_Development_FOUND)
-      GZ_BUILD_WARNING("Python development libraries are missing: Python interfaces are disabled.")
-    endif()
   endif()
 
   #################################################
@@ -151,8 +148,12 @@ if (BUILD_SDF)
   add_subdirectory(sdf)
   add_subdirectory(conf)
   add_subdirectory(doc)
-  if (Python3_Development_FOUND AND NOT SKIP_PYBIND11)
-    add_subdirectory(python)
+  if (NOT SKIP_PYBIND11)
+    if (Python3_Development_FOUND)
+      add_subdirectory(python)
+    else()
+      message(WARNING "Python development libraries are missing: Python interfaces are disabled.")
+    endif()
   endif()
 endif(BUILD_SDF)
 

Changelog.md

@@ -1,5 +1,34 @@
 ## libsdformat 15.X
 
+### libsdformat 15.2.0 (2025-02-12)
+
+1. Add entry to Migration guide about the updated auto-inertia behavior
+    * [Pull request #1528](https://github.com/gazebosim/sdformat/pull/1528)
+
+1. Add missed spec version 1.12 in the sdf_descriptions target
+    * [Pull request #1529](https://github.com/gazebosim/sdformat/pull/1529)
+
+1. Resolve auto inertia based on input mass
+    * [Pull request #1513](https://github.com/gazebosim/sdformat/pull/1513)
+
+1. ci.yml: run cppcheck, cpplint on noble
+    * [Pull request #1521](https://github.com/gazebosim/sdformat/pull/1521)
+
+1. Add non-const overload for Root::Model() getter
+    * [Pull request #1524](https://github.com/gazebosim/sdformat/pull/1524)
+
+1. Remove unncessary <iostream> includes
+    * [Pull request #1523](https://github.com/gazebosim/sdformat/pull/1523)
+
+1. Don't reparse parent elements when cloning.
+    * [Pull request #1484](https://github.com/gazebosim/sdformat/pull/1484)
+
+1. python bindings: get version from package.xml
+    * [Pull request #1504](https://github.com/gazebosim/sdformat/pull/1504)
+
+1. Permit to test when building bindings separately from main library
+    * [Pull request #1509](https://github.com/gazebosim/sdformat/pull/1509)
+
 ### libsdformat 15.1.1 (2024-11-15)
 
 1. **Baseline:** this includes all changes from 15.1.0 and earlier.

include/sdf/ParserConfig.hh

@@ -69,6 +69,21 @@ enum class ConfigureResolveAutoInertials
   SAVE_CALCULATION_IN_ELEMENT,
 };
 
+/// \enum CalculateInertialFailurePolicyType
+/// \brief Configuration options of how CalculateInertial() failures should
+/// be handled.
+enum class CalculateInertialFailurePolicyType
+{
+  /// \brief If this value is used, failures of Geometry::CalculateInertial()
+  /// will result in a LINK_INERTIA_INVALID error with no inertial values
+  /// written.
+  ERR,
+
+  /// \brief If this value is used, failures of Geometry::CalculateInertial()
+  /// will result in default inertial values used and a WARNING.
+  WARN_AND_USE_DEFAULT_INERTIAL,
+};
+
 // Forward declare private data class.
 class ParserConfigPrivate;
 
@@ -192,6 +207,19 @@ class SDFORMAT_VISIBLE ParserConfig
   public: void SetCalculateInertialConfiguration(
     ConfigureResolveAutoInertials _configuration);
 
+  /// \brief Get the current policy for handling failures of the
+  /// CalculateInertial() function. By default an error is reported.
+  /// \return Current set value of the CalculateInertialFailurePolicyType enum
+  public: CalculateInertialFailurePolicyType
+    CalculateInertialFailurePolicy() const;
+
+  /// \brief Set the policy for handling failures of the CalculateInertial()
+  /// function
+  /// \param[in] _policy The policy to set for handling failures of the
+  /// CalculateInertial() function
+  public: void SetCalculateInertialFailurePolicy(
+    CalculateInertialFailurePolicyType _policy);
+
   /// \brief Registers a custom model parser.
   /// \param[in] _modelParser Callback as described in
   /// sdf/InterfaceElements.hh.

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>sdformat15</name>
-  <version>15.1.1</version>
+  <version>15.2.0</version>
   <description>SDFormat is an XML file format that describes environments, objects, and robots
 in a manner suitable for robotic applications</description>
 

python/CMakeLists.txt

@@ -133,7 +133,7 @@ set_target_properties(${BINDINGS_MODULE_NAME} PROPERTIES
 configure_build_install_location(${BINDINGS_MODULE_NAME})
 
 if (BUILD_TESTING AND NOT WIN32)
-  pybind11_add_module(sdformattest SHARED
+  pybind11_add_module(sdformattest MODULE
     test/_gz_sdformattest_pybind11.cc
   )
 

src/Collision.cc

@@ -322,9 +322,27 @@ void Collision::CalculateInertial(
 
   if (!geomInertial)
   {
-    _errors.push_back({ErrorCode::LINK_INERTIA_INVALID,
-        "Inertia Calculated for collision: " +
-        this->dataPtr->name + " is invalid."});
+    if (_config.CalculateInertialFailurePolicy() ==
+        CalculateInertialFailurePolicyType::WARN_AND_USE_DEFAULT_INERTIAL)
+    {
+      Error err(
+          sdf::ErrorCode::WARNING,
+          "Inertia Calculated for collision: " + this->dataPtr->name +
+          " is invalid, using default inertial values.");
+      enforceConfigurablePolicyCondition(_config.WarningsPolicy(), err,
+                                         _errors);
+
+      using namespace gz::math;
+      _inertial = Inertiald(MassMatrix3d(1, Vector3d::One, Vector3d::Zero),
+                            Pose3d::Zero);
+    }
+    else if (_config.CalculateInertialFailurePolicy() ==
+             CalculateInertialFailurePolicyType::ERR)
+    {
+        _errors.push_back({ErrorCode::LINK_INERTIA_INVALID,
+            "Inertia Calculated for collision: " +
+            this->dataPtr->name + " is invalid."});
+    }
   }
   else
   {

src/Collision_TEST.cc

@@ -398,6 +398,61 @@ TEST(DOMCollision, CalculateInertialPoseNotRelativeToLink)
   EXPECT_EQ(expectedInertial.Pose(), link->Inertial().Pose());
 }
 
+/////////////////////////////////////////////////
+TEST(DOMCollision, CollisionCalculateInertialFailurePolicy)
+{
+  sdf::Collision collision;
+
+  sdf::ElementPtr sdf(new sdf::Element());
+  collision.Load(sdf);
+
+  const sdf::ParserConfig sdfParserConfig;
+  sdf::Geometry geom;
+  sdf::Mesh mesh;
+  geom.SetType(sdf::GeometryType::MESH);
+  geom.SetMeshShape(mesh);
+  collision.SetGeom(geom);
+
+  sdf::ParserConfig config;
+  sdf::Errors errors;
+  sdf::CustomInertiaCalcProperties inertiaCalcProps;
+
+  // Custom inertia calculator that returns null inertial
+  auto customMeshInertiaCalculator = [](
+    sdf::Errors &,
+    const sdf::CustomInertiaCalcProperties &)
+      -> std::optional<gz::math::Inertiald>
+  {
+    return std::nullopt;
+  };
+  config.RegisterCustomInertiaCalc(customMeshInertiaCalculator);
+
+  // With default inertial failure policy, there should be an error when the
+  // mesh inertial calculator returns null inertial values.
+  gz::math::Inertiald collisionInertial;
+  collision.CalculateInertial(errors, collisionInertial, config);
+  ASSERT_EQ(1u, errors.size()) << errors;
+  EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::LINK_INERTIA_INVALID);
+  const gz::math::Inertiald empty;
+  EXPECT_EQ(empty, collisionInertial);
+
+  // Set inertial failure policy to use default inertial values on failure and
+  // verify that there are no more errors.
+  errors.clear();
+  config.SetCalculateInertialFailurePolicy(
+    sdf::CalculateInertialFailurePolicyType::WARN_AND_USE_DEFAULT_INERTIAL);
+  collision.CalculateInertial(errors, collisionInertial, config);
+  EXPECT_TRUE(errors.empty()) << errors;
+
+  // Verify default inertial values are returned.
+  gz::math::Inertiald defaultInertial;
+  defaultInertial.SetMassMatrix(
+    gz::math::MassMatrix3d(1.0,
+      gz::math::Vector3d::One,
+      gz::math::Vector3d::Zero));
+  EXPECT_EQ(collisionInertial, defaultInertial);
+}
+
 /////////////////////////////////////////////////
 TEST(DOMCollision, ToElement)
 {

src/ParserConfig.cc

@@ -44,6 +44,11 @@ class sdf::ParserConfig::Implementation
   /// to behave behave differently than the `warningsPolicy`.
   public: std::optional<EnforcementPolicy> deprecatedElementsPolicy;
 
+  /// \brief Policy that is set for handling failures of the
+  /// CalculateInertial() function. By default errors are reported.
+  public: CalculateInertialFailurePolicyType calculateInertialFailurePolicy =
+    CalculateInertialFailurePolicyType::ERR;
+
   /// \brief Configuration that is set for the CalculateInertial() function
   /// By default it is set to SAVE_CALCULATION to preserve the behavior of
   /// Root::Load() generating complete inertial information.
@@ -167,6 +172,20 @@ EnforcementPolicy ParserConfig::DeprecatedElementsPolicy() const
       this->dataPtr->warningsPolicy);
 }
 
+/////////////////////////////////////////////////
+CalculateInertialFailurePolicyType
+  ParserConfig::CalculateInertialFailurePolicy() const
+{
+  return this->dataPtr->calculateInertialFailurePolicy;
+}
+
+/////////////////////////////////////////////////
+void ParserConfig::SetCalculateInertialFailurePolicy(
+  CalculateInertialFailurePolicyType _policy)
+{
+  this->dataPtr->calculateInertialFailurePolicy = _policy;
+}
+
 /////////////////////////////////////////////////
 ConfigureResolveAutoInertials
   ParserConfig::CalculateInertialConfiguration() const

src/ParserConfig_TEST.cc

@@ -68,6 +68,14 @@ TEST(ParserConfig, Construction)
   EXPECT_EQ(sdf::ConfigureResolveAutoInertials::SAVE_CALCULATION_IN_ELEMENT,
     config.CalculateInertialConfiguration());
 
+  EXPECT_EQ(sdf::CalculateInertialFailurePolicyType::ERR,
+    config.CalculateInertialFailurePolicy());
+  config.SetCalculateInertialFailurePolicy(
+    sdf::CalculateInertialFailurePolicyType::WARN_AND_USE_DEFAULT_INERTIAL);
+  EXPECT_EQ(
+    sdf::CalculateInertialFailurePolicyType::WARN_AND_USE_DEFAULT_INERTIAL,
+    config.CalculateInertialFailurePolicy());
+
   EXPECT_FALSE(config.URDFPreserveFixedJoint());
   EXPECT_FALSE(config.StoreResolvedURIs());
 }

test/BUILD.bazel

@@ -347,7 +347,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Pose3",
+        "@gz-math",
     ],
 )
 
@@ -444,7 +444,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Pose3",
+        "@gz-math",
     ],
 )
 
@@ -458,7 +458,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Color",
+        "@gz-math",
     ],
 )
 
@@ -504,7 +504,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Color",
+        "@gz-math",
     ],
 )
 
@@ -538,8 +538,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Pose3",
-        "@gz-math//:Vector3",
+        "@gz-math",
     ],
 )
 
@@ -576,8 +575,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Pose3",
-        "@gz-math//:Vector3",
+        "@gz-math",
     ],
 )
 
@@ -663,7 +661,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Vector3",
+        "@gz-math",
     ],
 )
 
@@ -722,9 +720,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Angle",
-        "@gz-math//:Pose3",
-        "@gz-math//:Vector3",
+        "@gz-math",
     ],
 )
 
@@ -770,7 +766,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Vector3",
+        "@gz-math",
     ],
 )
 
@@ -835,7 +831,7 @@ cc_test(
         "//:sdformat",
         "@googletest//:gtest",
         "@googletest//:gtest_main",
-        "@gz-math//:Color",
+        "@gz-math",
     ],
 )