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Add _state suffix to //state subelements #1455
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Signed-off-by: Steve Peters <[email protected]>
Include joint_state.sdf from model_state.sdf and state.sdf for //world/joint states. Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
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LGTM, in each of the *_state.sdf
can we add a little more description on what state
is? For example, what is joint_state
vs. normal joint
. Alternatively, adding a more thorough comment in state.sdf
would be helpful.
Also, since this is a breaking change, shouldn't we add a method of conversion in https://github.com/gazebosim/sdformat/blob/sdformat14_14.0.0/sdf/1.11/1_10.convert ?
👍
I tried to add that in #1377, but it was difficult to handle multiple levels of nested models. My last commit in that PR (e9de659) added a failing test showing what wasn't yet working (see jenkins job result). The |
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
I've updated the description of state elements in cd32f6e |
Yes, like @scpeters said, gz-sim hasn't been using the |
🦟 Bug fix
Part of #632, alternative to #1377
Summary
There is some overlap in the names used for elements in the
//world/state
specification and elsewhere, for example the model_state.sdf file included in state.sdf defines an element named model. This has caused challenges with aliasing in XSD (see #632 and #643), and it would be simpler if some of these elements had different names, so a_state
suffix is appended to several subelements of the//state
element. Additionally, the//joint_state
definition is moved to its own file and included fromstate.sdf
so that a//state/joint_state
element can specify the state of a//world/joint
.I made a similar attempt at renaming these state elements in #1377 trying also to support backwards compatibility with a
1_11.convert
file but only achieving partial functionality. Given that the//state
element hasn't been used in any version of gz-sim, this pull request opts for a breaking change instead of partial support for backwards compatibility.Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-by
messages.