Print auto inertial values with gz sdf --print --expand-auto-inertials#1422
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Print auto inertial values with gz sdf --print --expand-auto-inertials#1422
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This adds a SAVE_CALCULATION_IN_ELEMENT value to the ConfigureResolveAutoInertials enum, which is similar to the SAVE_CALCULATION value but also stores the resulting inertial data in the Link's Element so that it can be printed. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
If the SAVE_CALCULATION_IN_ELEMENT value is set in ParserConfig, then store auto-computed inertial data in the Link's Element. Confirm with a test added to INTEGRATION_link_dom. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
The --inertial-stats argument represents a command, so move its help string and change indentation to match other commands, so that it doesn't look like a sub-parameter of --print. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
The `--expand-auto-inertials` option to `gz sdf --print` will print auto-computed inertial values. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
ahcorde
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azeey
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May 24, 2024
src/cmd/cmdsdformat.rb.in
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| " rotational part of poses and unit vectors will be normalized.\n" + | ||
| " -i [ --preserve-includes ] Preserve included tags when printing converted arg (does not preserve merge-includes).\n" + | ||
| " --degrees Pose rotation angles are printed in degrees.\n" + | ||
| " --expand-auto-inertials Prints auto-computed inertial values.\n" + |
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Can you mention that this won't work for meshes.
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in f32393b I've added a bit to the doc-string for gz sdf --print --expand-auto-inertials that mesh inertial data isn't computed. here's the output I see (with some adjusted whitespace):
$ gz sdf --print test/sdf/mesh_auto_inertial.sdf --expand-auto-inertials
Warning [Utils.cc:115] Collision is missing a <density> child element.
Using a default density value of 1000.000000 kg/m^3.
Warning [Utils.cc:115] Custom moment of inertia calculator for meshes
not set via sdf::ParserConfig::RegisterCustomInertiaCalc,
using default inertial values.
<sdf version='1.12'>
<model name='test_model'>
<link name='L1'>
<inertial auto='true'>
<pose>0 0 0 0 0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>box.dae</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>
Update doc-string for `gz sdf --print --expand-auto-inertials` to clarify that mesh inertial data is not computed. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
azeey
approved these changes
May 24, 2024
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@Mergifyio backport sdf14 |
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✅ Backports have been createdDetails
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#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)
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#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)
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🎉 New feature
Closes #1348
Summary
The ability to automatically compute inertial values by setting the
//inertial/@autoattribute to true is very convenient, but it is difficult to see what inertial values were computed. This adds a--expand-auto-inertialsargument togz sdf --printto show the auto-computed inertial values in the printed output.To enable this behavior, a new enum value
SAVE_CALCULATION_IN_ELEMENTis added toConfigureResolveAutoInertialsinParserConfig.hh, and theLinkwill store auto-computed inertial values directly in itssdf::Elementwhen this configuration is set.I am seeing a failing test on macOS locally but want to see if it is an issue on other platforms. EDIT: fixed in 2ffda3d.
Test it
INTEGRATION_link_domto verify the functionality of theLinkclass withSAVE_CALCULATION_IN_ELEMENTUNIT_gz_TESTto verify the--expand-auto-inertialsparameter togz sdf --printcolconworkspace withgz-tools2, thengz sdf --print test/sdf/inertial_stats_auto.sdfwith and without--expand-auto-inertialsshould demonstrate the feature.Checklist
codecheckpassed (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-bymessages.