Copy 1.11 spec to 1.12 for libsdformat15 (#1375)

* Set default spec version to 1.12
* Update Migration.md

Signed-off-by: Steve Peters <[email protected]>

CMakeLists.txt

@@ -9,7 +9,7 @@ project (sdformat15 VERSION 15.0.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software
-set (SDF_PROTOCOL_VERSION 1.11)
+set (SDF_PROTOCOL_VERSION 1.12)
 
 OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF)
 

Migration.md

@@ -12,6 +12,14 @@ forward programmatically.
 This document aims to contain similar information to those files
 but with improved human-readability..
 
+## libsdformat 14.x to 15.x
+
+### Additions
+
+1. **New SDFormat specification version 1.12**
+    + Details about the 1.11 to 1.12 transition are explained below in this same
+      document
+
 ## libsdformat 13.x to 14.x
 
 ### Additions
@@ -576,6 +584,8 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
     + Changed to `_fixed_joint_lump__` to avoid confusion with scoped names
     + [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/245)
 
+## SDFormat specification 1.11 to 1.12
+
 ## SDFormat specification 1.10 to 1.11
 
 ### Additions

sdf/1.12/1_11.convert

@@ -0,0 +1,2 @@
+<convert name="sdf">
+</convert> <!-- End SDF -->

sdf/1.12/CMakeLists.txt

@@ -0,0 +1,89 @@
+set (sdfs
+  actor.sdf
+  air_pressure.sdf
+  air_speed.sdf
+  altimeter.sdf
+  atmosphere.sdf
+  audio_source.sdf
+  audio_sink.sdf
+  battery.sdf
+  box_shape.sdf
+  camera.sdf
+  capsule_shape.sdf
+  collision.sdf
+  contact.sdf
+  cylinder_shape.sdf
+  ellipsoid_shape.sdf
+  frame.sdf
+  forcetorque.sdf
+  geometry.sdf
+  gps.sdf
+  gripper.sdf
+  gui.sdf
+  heightmap_shape.sdf
+  image_shape.sdf
+  imu.sdf
+  inertial.sdf
+  joint.sdf
+  lidar.sdf
+  light.sdf
+  light_state.sdf
+  link.sdf
+  link_state.sdf
+  logical_camera.sdf
+  magnetometer.sdf
+  material.sdf
+  mesh_shape.sdf
+  mimic.sdf
+  model.sdf
+  model_state.sdf
+  navsat.sdf
+  noise.sdf
+  particle_emitter.sdf
+  physics.sdf
+  plane_shape.sdf
+  plugin.sdf
+  polyline_shape.sdf
+  population.sdf
+  pose.sdf
+  projector.sdf
+  ray.sdf
+  rfidtag.sdf
+  rfid.sdf
+  road.sdf
+  root.sdf
+  scene.sdf
+  sensor.sdf
+  spherical_coordinates.sdf
+  sphere_shape.sdf
+  sonar.sdf
+  state.sdf
+  surface.sdf
+  transceiver.sdf
+  visual.sdf
+  world.sdf
+)
+
+set (SDF_SCHEMA)
+
+foreach(FIL ${sdfs})
+  get_filename_component(ABS_FIL ${FIL} ABSOLUTE)
+  get_filename_component(FIL_WE ${FIL} NAME_WE)
+
+  list(APPEND SDF_SCHEMA "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd")
+
+  add_custom_command(
+    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
+    COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
+    ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
+    DEPENDS ${ABS_FIL}
+    COMMENT "Running xml schema compiler on ${FIL}"
+    VERBATIM)
+endforeach()
+
+add_custom_target(schema1_12 ALL DEPENDS ${SDF_SCHEMA})
+
+set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
+
+install(FILES 1_11.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.12)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.12)

sdf/1.12/actor.sdf

@@ -0,0 +1,86 @@
+<!-- Actor -->
+<element name="actor" required="*">
+  <description>A special kind of model which can have a scripted motion. This includes both global waypoint type animations and skeleton animations.</description>
+
+  <attribute name="name" type="string" default="__default__" required="1">
+    <description>A unique name for the actor.</description>
+  </attribute>
+
+  <include filename="pose.sdf" required="0"/>
+
+  <element name="skin" required="0">
+    <description>Skin file which defines a visual and the underlying skeleton which moves it.</description>
+
+    <element name="filename" type="string" default="__default__" required="1">
+      <description>Path to skin file, accepted formats: COLLADA, BVH.</description>
+    </element>
+
+    <element name="scale" type="double" default="1.0" required="0">
+      <description>Scale the skin's size.</description>
+    </element>
+  </element> <!-- End Skin -->
+
+  <element name="animation" required="*">
+    <description>Animation file defines an animation for the skeleton in the skin. The skeleton must be compatible with the skin skeleton.</description>
+
+    <attribute name="name" type="string" default="__default__" required="1">
+      <description>Unique name for animation.</description>
+    </attribute>
+
+    <element name="filename" type="string" default="__default__" required="1">
+      <description>Path to animation file. Accepted formats: COLLADA, BVH.</description>
+    </element>
+    <element name="scale" type="double" default="1.0" required="0">
+      <description>Scale for the animation skeleton.</description>
+    </element>
+    <element name="interpolate_x" type="bool" default="false" required="0">
+      <description>Set to true so the animation is interpolated on X.</description>
+    </element>
+  </element> <!-- End Animation -->
+
+  <element name="script" required="1">
+    <description>Adds scripted trajectories to the actor.</description>
+
+    <element name="loop" type="bool" default="true" required="0">
+      <description>Set this to true for the script to be repeated in a loop. For a fluid continuous motion, make sure the last waypoint matches the first one.</description>
+    </element>
+
+    <element name="delay_start" type="double" default="0.0" required="0">
+      <description>This is the time to wait before starting the script. If running in a loop, this time will be waited before starting each cycle.</description>
+    </element>
+
+    <element name="auto_start" type="bool" default="true" required="0">
+      <description>Set to true if the animation should start as soon as the simulation starts playing. It is useful to set this to false if the animation should only start playing only when triggered by a plugin, for example.</description>
+    </element>
+
+    <element name="trajectory" required="*">
+      <description>The trajectory contains a series of keyframes to be followed.</description>
+      <attribute name="id" type="int" default="0" required="1">
+        <description>Unique id for a trajectory.</description>
+      </attribute>
+
+      <attribute name="type" type="string" default="__default__" required="1">
+        <description>If it matches the type of an animation, they will be played at the same time.</description>
+      </attribute>
+
+      <attribute name="tension" type="double" default="0.0" required="0" min="0.0" max="1.0">
+        <description>The tension of the trajectory spline. The default value of zero equates to a Catmull-Rom spline, which may also cause the animation to overshoot keyframes. A value of one will cause the animation to stick to the keyframes.</description>
+      </attribute>
+
+      <element name="waypoint" required="*">
+        <description>Each point in the trajectory.</description>
+        <element name="time" type="double" default="0.0" required="1">
+          <description>The time in seconds, counted from the beginning of the script, when the pose should be reached.</description>
+        </element>
+        <element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
+          <description>The pose which should be reached at the given time.</description>
+        </element> <!-- End Pose -->
+      </element> <!-- End Waypoint -->
+    </element> <!-- End Trajectory -->
+  </element> <!-- End Script -->
+
+  <include filename="link.sdf" required="+"/>
+  <include filename="joint.sdf" required="*"/>
+  <include filename="plugin.sdf" required="*"/>
+
+</element> <!-- End Actor -->

sdf/1.12/air_pressure.sdf

@@ -0,0 +1,15 @@
+<element name="air_pressure" required="0">
+  <description>These elements are specific to an air pressure sensor.</description>
+
+  <element name="reference_altitude" type="double" default="0.0" required="0">
+    <description>The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.</description>
+  </element>
+
+  <element name="pressure" required="0">
+    <description>
+      Noise parameters for the pressure data.
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+</element>

sdf/1.12/air_speed.sdf

@@ -0,0 +1,11 @@
+<element name="air_speed" required="0">
+  <description>These elements are specific to an air speed sensor. This sensor determines speed based on the differential between static and dynamic pressure.</description>
+
+  <element name="pressure" required="0">
+    <description>
+      Noise parameters for the pressure data.
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+</element>

sdf/1.12/altimeter.sdf

@@ -0,0 +1,18 @@
+<element name="altimeter" required="0">
+  <description>These elements are specific to an altimeter sensor.</description>
+
+  <element name="vertical_position" required="0">
+    <description>
+      Noise parameters for vertical position
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+  <element name="vertical_velocity" required="0">
+    <description>
+      Noise parameters for vertical velocity
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+</element>

sdf/1.12/atmosphere.sdf

@@ -0,0 +1,21 @@
+<!-- Atmosphere -->
+<element name="atmosphere" required="1">
+  <description>The atmosphere tag specifies the type and properties of the atmosphere model.</description>
+
+  <attribute name="type" type="string" default="adiabatic" required="1">
+    <description>The type of the atmosphere engine. Current options are adiabatic.  Defaults to adiabatic if left unspecified.</description>
+  </attribute>
+
+  <element name="temperature" type="double" default="288.15" required="0">
+    <description>Temperature at sea level in kelvins.</description>
+  </element>
+
+  <element name="pressure" type="double" default="101325" required="0">
+    <description>Pressure at sea level in pascals.</description>
+  </element>
+
+  <element name="temperature_gradient" type="double" default="-0.0065" required="0">
+    <description>Temperature gradient with respect to increasing altitude at sea level in units of K/m.</description>
+  </element>
+
+</element> <!-- Atmosphere -->

sdf/1.12/audio_sink.sdf

@@ -0,0 +1,4 @@
+<!-- Audio Sink -->
+<element name="audio_sink" required="*">
+  <description>An audio sink.</description>
+</element>

sdf/1.12/audio_source.sdf

@@ -0,0 +1,30 @@
+<!-- Audio Source -->
+<element name="audio_source" required="*">
+  <description>An audio source.</description>
+
+  <element name="uri" type="string" default="__default__" required="1">
+    <description>URI of the audio media.</description>
+  </element>
+
+  <element name="pitch" type="double" default="1.0" required="0">
+    <description>Pitch for the audio media, in Hz</description>
+  </element>
+
+  <element name="gain" type="double" default="1.0" required="0">
+    <description>Gain for the audio media, in dB.</description>
+  </element>
+
+  <element name="contact" required="0">
+    <description>List of collision objects that will trigger audio playback.</description>
+    <element name="collision" type="string" default="__default__" required="+">
+      <description>Name of child collision element that will trigger audio playback.</description>
+    </element>
+  </element>
+
+  <element name="loop" type="bool" default="false" required="0">
+    <description>True to make the audio source loop playback.</description>
+  </element>
+
+  <include filename="pose.sdf" required="0"/>
+
+</element>

sdf/1.12/battery.sdf

@@ -0,0 +1,12 @@
+<!-- Battery -->
+<element name="battery" required="*">
+  <description>Description of a battery.</description>
+
+  <attribute name="name" type="string" default="__default__" required="1">
+    <description>Unique name for the battery.</description>
+  </attribute>
+
+  <element name="voltage" type="double" default="0.0" required="1">
+    <description>Initial voltage in volts.</description>
+  </element>
+</element>

sdf/1.12/box_shape.sdf

@@ -0,0 +1,6 @@
+<element name="box" required="0">
+  <description>Box shape</description>
+  <element name="size" type="vector3" default="1 1 1" required="1">
+    <description>The three side lengths of the box. The origin of the box is in its geometric center (inside the center of the box).</description>
+  </element>
+</element>