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[sdf9] Changelog links to BitBucket backup (gazebosim#240)
* [sdf9] Changelog links to BitBucket backup Signed-off-by: Louise Poubel <louise@openrobotics.org> * [sdf8] Changelog links to BitBucket backup Signed-off-by: Louise Poubel <louise@openrobotics.org> * [sdf7] Changelog links to BitBucket backup (gazebosim#238) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Convert bitbucket links for sdf9 Signed-off-by: Steven Peters <scpeters@openrobotics.org> * Fix link in API documentation Signed-off-by: Steven Peters <scpeters@openrobotics.org> Co-authored-by: Steven Peters <scpeters@openrobotics.org>
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.hgignore .gitignore

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syntax: glob
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build
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build_*

CMakeLists.txt

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@@ -51,7 +51,7 @@ set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
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# to choose the flag -std=gnu++14 instead of -std=c++14 when the C++14
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# features are requested. Explicitly turning this flag off will force cmake to
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# choose -std=c++14.
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# See https://bitbucket.org/ignitionrobotics/ign-cmake/issues/13 for more info.
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# See https://github.com/ignitionrobotics/ign-cmake/issues/13 for more info.
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set(CMAKE_CXX_EXTENSIONS off)
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# Include GNUInstallDirs to get canonical paths

Changelog.md

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Large diffs are not rendered by default.

INSTALL_WIN32.md

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@@ -22,7 +22,7 @@ Windows `cmd` for configuring and building.
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1. Clone sdformat
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hg clone https://bitbucket.org/osrf/sdformat
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git clone https://github.com/osrf/sdformat
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1. Load your compiler setup, e.g. (note that we are asking for the 64-bit toolchain here):
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Migration.md

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@@ -105,7 +105,7 @@ but with improved human-readability..
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1. + Change installation path of SDF description files to allow side-by-side installation.
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+ `{prefix}/share/sdformat/1.*/*.sdf` -> `{prefix}/share/sdformat8/1.*/*.sdf`
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+ [pull request 538](https://bitbucket.org/osrf/sdformat/pull-requests/538)
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+ [BitBucket pull request 538](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/538)
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## SDFormat 5.x to 6.x
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1. **`gravity` and `magnetic_field` elements are moved from `physics` to `world`**
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+ In physics element: gravity and `magnetic_field` tags have been moved
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from Physics to World element.
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+ [pull request 247](https://bitbucket.org/osrf/sdformat/pull-requests/247)
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+ [gazebo pull request 2090](https://bitbucket.org/osrf/gazebo/pull-requests/2090)
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+ [BitBucket pull request 247](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/247)
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+ [gazebo pull request 2090](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2090)
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1. **New noise for IMU**
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+ A new style for representing the noise properties of an `imu` was implemented
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in [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199)
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in [BitBucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199)
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for sdf 1.5 and the old style was declared as deprecated.
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The old style has been removed from sdf 1.6 with the conversion script
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updating to the new style.
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+ [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199)
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+ [pull request 243](https://bitbucket.org/osrf/sdformat/pull-requests/243)
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+ [pull request 244](https://bitbucket.org/osrf/sdformat/pull-requests/244)
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+ [BitBucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199)
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+ [BitBucket pull request 243](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/243)
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+ [BitBucket pull request 244](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/244)
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1. **Lump:: prefix in link names**
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+ Changed to `_fixed_joint_lump__` to avoid confusion with scoped names
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+ [Pull request 245](https://bitbucket.org/osrf/sdformat/pull-request/245)
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+ [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/245)
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## SDF protocol 1.6 to 1.7
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+ type: string
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+ default: ""
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+ required: *
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+ [pull request 603](https://bitbucket.org/osrf/sdformat/pull-requests/603)
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+ [BitBucket pull request 603](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/603)
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1. **joint.sdf** `//axis/xyz/@expressed_in` and `//axis2/xyz/@expressed_in` attributes
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+ description: The name of the frame in which the `//axis/xyz` value is
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+ type: string
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+ default: ""
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+ required: 0
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+ [pull request 589](https://bitbucket.org/osrf/sdformat/pull-requests/589)
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+ [BitBucket pull request 589](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/589)
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1. **model.sdf** `//model/@canonical_link` attribute
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+ description: The name of the canonical link in this model to which the
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+ type: string
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+ default: ""
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+ required: 0
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+ [pull request 601](https://bitbucket.org/osrf/sdformat/pull-requests/601)
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+ [BitBucket pull request 601](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/601)
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1. **world.sdf** `//world/frame` element is now allowed.
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+ [pull request 603](https://bitbucket.org/osrf/sdformat/pull-requests/603)
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+ [BitBucket pull request 603](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/603)
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### Modifications
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1. A non-static model must have at least one link, as specified in the
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[proposal](http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs&#2-model-frame-and-canonical-link).
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+ [pull request 601](https://bitbucket.org/osrf/sdformat/pull-requests/601)
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+ [pull request 626](https://bitbucket.org/osrf/sdformat/pull-requests/626)
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+ [BitBucket pull request 601](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/601)
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+ [BitBucket pull request 626](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/626)
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1. Unique names for all sibling elements:
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+ As described in the [proposal](http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs&#3-2-unique-names-for-all-sibling-elements),
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Some existing SDFormat models may not comply with this requirement.
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The `ign sdf --check` command can be used to identify models that violate
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this requirement.
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+ [pull request 600](https://bitbucket.org/osrf/sdformat/pull-requests/600)
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+ [BitBucket pull request 600](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/600)
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1. Reserved names:
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+ As described in the [proposal](http://sdformat.org/tutorials?tut=pose_frame_semantics_proposal&cat=pose_semantics_docs&#3-3-reserved-names),
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for implicit model / world frames, respectively).
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1. **joint.sdf** `//joint/child` may no longer be specified as `world`.
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+ [pull request 634](https://bitbucket.org/osrf/sdformat/pull-requests/634)
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+ [BitBucket pull request 634](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/634)
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1. **pose.sdf** `//pose/@frame` attribute is renamed to `//pose/@relative_to`.
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+ [pull request 597](https://bitbucket.org/osrf/sdformat/pull-requests/597)
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+ [BitBucket pull request 597](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/597)
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### Removals
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+ projector
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+ sensor
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+ visual
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+ [pull request 603](https://bitbucket.org/osrf/sdformat/pull-requests/603)
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+ [BitBucket pull request 603](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/603)
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1. **actor.sdf** `static` element was deprecated in
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[pull request 280](https://bitbucket.org/osrf/sdformat/pull-requests/280)
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[BitBucket pull request 280](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/280)
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and is now removed.
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+ [pull request 588](https://bitbucket.org/osrf/sdformat/pull-requests/588)
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+ [BitBucket pull request 588](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/588)
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1. **imu.sdf** `topic` element was deprecated in
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[pull request 532](https://bitbucket.org/osrf/sdformat/pull-requests/532)
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[BitBucket pull request 532](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/532)
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and is now removed.
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+ [pull request 588](https://bitbucket.org/osrf/sdformat/pull-requests/588)
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+ [BitBucket pull request 588](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/588)
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1. **joint.sdf** `//axis/use_parent_model_frame` and `//axis2/use_parent_model_frame` elements
294294
are removed in favor of the `//axis/xyz/@expressed_in` and
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`//axis2/xyz/@expressed_in` attributes.
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When migrating from sdf 1.6, a `use_parent_model_frame` value
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of `true` will be mapped to a value of `__model__` for the `expressed_in`
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attribute.
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+ [pull request 589](https://bitbucket.org/osrf/sdformat/pull-requests/589)
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+ [BitBucket pull request 589](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/589)
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1. **joint.sdf** `//physics/ode/provide_feedback` was deprecated in
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[pull request 38](https://bitbucket.org/osrf/sdformat/pull-requests/38)
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[BitBucket pull request 38](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/38)
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and is now removed.
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+ [pull request 588](https://bitbucket.org/osrf/sdformat/pull-requests/588)
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+ [BitBucket pull request 588](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/588)
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1. **world.sdf** `//world/joint` was removed as it has never been used.
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+ [pull request 637](https://bitbucket.org/osrf/sdformat/pull-requests/637)
307+
+ [BitBucket pull request 637](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/637)
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## SDF protocol 1.5 to 1.6
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+ min: 0.0
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+ max: 1.0
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+ required: 0
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+ [pull request 466](https://bitbucket.org/osrf/sdformat/pull-requests/466)
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+ [BitBucket pull request 466](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/466)
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1. **camera.sdf** `depth_camera/clip` sub-elements: `near`, `far`
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+ description: Clipping parameters for depth camera on rgbd camera sensor.
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+ [pull request 628](https://bitbucket.org/osrf/sdformat/pull-requests/628)
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+ [BitBucket pull request 628](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/628)
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1. **camera.sdf** `intrinsics` sub-elements: `fx`, `fy`, `cx`, `cy`, `s`
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+ description: Camera intrinsic parameters for setting a custom perspective projection matrix.
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+ [pull request 496](https://bitbucket.org/osrf/sdformat/pull-requests/496)
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+ [BitBucket pull request 496](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/496)
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1. **link.sdf** `enable_wind` element
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+ description: If true, the link is affected by the wind
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+ type: bool
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+ default: false
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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+ [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240)
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1. **link.sdf** `light` element
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+ included from `light.sdf` with `required="*"`,
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so a link can have any number of attached lights.
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+ [pull request 373](https://bitbucket.org/osrf/sdformat/pull-requests/373)
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+ [BitBucket pull request 373](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/373)
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1. **model.sdf** `enable_wind` element
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+ description: If set to true, all links in the model will be affected by
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the wind. Can be overriden by the link wind property.
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+ type: bool
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+ default: false
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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+ [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240)
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1. **model_state.sdf** `scale` element
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+ description: Scale for the 3 dimensions of the model.
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+ type: vector3
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+ default: "1 1 1"
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+ required: 0
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+ [pull request 246](https://bitbucket.org/osrf/sdformat/pull-requests/246)
358+
+ [BitBucket pull request 246](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/246)
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1. **physics.sdf** `dart::collision_detector` element
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+ description: The collision detector for DART to use.
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Can be dart, fcl, bullet or ode.
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+ type: string
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+ default: fcl
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+ required: 0
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+ [pull request 440](https://bitbucket.org/osrf/sdformat/pull-requests/440)
366+
+ [BitBucket pull request 440](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/440)
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1. **physics.sdf** `dart::solver::solver_type` element
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+ description: The DART LCP/constraint solver to use.
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Either dantzig or pgs (projected Gauss-Seidel)
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+ type: string
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+ default: dantzig
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+ required: 0
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+ [pull request 369](https://bitbucket.org/osrf/sdformat/pull-requests/369)
374+
+ [BitBucket pull request 369](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/369)
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1. **physics.sdf** `island_threads` element under `ode::solver`
377377
+ description: Number of threads to use for "islands" of disconnected models.
378378
+ type: int
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+ default: 0
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+ required: 0
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+ [pull request 380](https://bitbucket.org/osrf/sdformat/pull-requests/380)
381+
+ [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/380)
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1. **physics.sdf** `thread_position_correction` element under `ode::solver`
384384
+ description: Flag to use threading to speed up position correction computation.
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+ type: bool
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+ default: 0
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+ required: 0
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+ [pull request 380](https://bitbucket.org/osrf/sdformat/pull-requests/380)
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+ [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/380)
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1. **sonar.sdf** `geometry` element
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+ description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere".
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+ type: string
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+ default: "cone"
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+ required: 0
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+ [pull request 495](https://bitbucket.org/osrf/sdformat/pull-requests/495)
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+ [BitBucket pull request 495](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/495)
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1. **state.sdf** allow `light` tags within `insertions` element
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* [pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325)
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* [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/325)
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1. **surface.sdf** `category_bitmask` element
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+ description: Bitmask for category of collision filtering.
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+ type: unsigned int
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+ default: 65535
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+ required: 0
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+ [pull request 318](https://bitbucket.org/osrf/sdformat/pull-requests/318)
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+ [BitBucket pull request 318](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/318)
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1. **world.sdf** `wind` element
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+ description: The wind tag specifies the type and properties of the wind.
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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+ [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240)
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1. **world.sdf** `wind::linear_velocity` element
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+ description: Linear velocity of the wind.
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+ type: vector3
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+ default: "0 0 0"
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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+ [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240)

bitbucket-pipelines.yml

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- sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
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- wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
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- apt-get update
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- apt -y install cmake build-essential curl git mercurial libtinyxml-dev libxml2-utils ruby-dev python-psutil cppcheck
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- apt -y install cmake build-essential curl git libtinyxml-dev libxml2-utils ruby-dev python-psutil cppcheck
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- gcc -v
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- g++ -v
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- gcov -v

doc/header.html

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<dd><a href="http://sdf.com/wiki/Tutorials">Tutorials</a></dd>
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<dd><a href="http://sdf.com/downloads.html">Download</a></dd>
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-->
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<dd><a href="https://bitbucket.org/osrf/sdf/issues/new">Report Documentation Issues</a></dd>
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<dd><a href="https://github.com/osrf/sdformat/issues/new">Report Documentation Issues</a></dd>
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</dl>
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</div>
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<div>

doc/mainpage.html

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Desctiption Format API. The code reference is divided into the groups below.
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Should you find problems with this documentation - typos, unclear phrases,
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or insufficient detail - please create a <a
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href="https://bitbucket.org/osrf/sdf/issues/new">new bitbucket issue</a>.
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href="https://github.com/osrf/sdformat/issues/new">new GitHub issue</a>.
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Include sufficient detail to quickly locate the problematic documentation,
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and set the issue's fields accordingly: Assignee - blank; Kind - bug;
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Priority - minor; Version - blank.

sdf/1.4/physics.sdf

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<description>
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Flag to enable dynamic rescaling of moment of inertia in constrained directions.
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See gazebo pull request 1114 for the implementation of this feature.
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https://bitbucket.org/osrf/gazebo/pull-request/1114
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https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1114
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</description>
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</element>
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</element> <!-- End Solver -->

sdf/1.5/joint.sdf

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<description>
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Flag to interpret the axis xyz element in the parent model frame instead
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of joint frame. Provided for Gazebo compatibility
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(see https://bitbucket.org/osrf/gazebo/issue/494 ).
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(see https://github.com/osrf/gazebo/issue/494 ).
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</description>
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</element>
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<element name="dynamics" required="0">
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<description>
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Flag to interpret the axis xyz element in the parent model frame instead
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of joint frame. Provided for Gazebo compatibility
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(see https://bitbucket.org/osrf/gazebo/issue/494 ).
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(see https://github.com/osrf/gazebo/issue/494 ).
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</description>
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</element>
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<element name="dynamics" required="0">

sdf/1.5/physics.sdf

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<description>
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Flag to enable dynamic rescaling of moment of inertia in constrained directions.
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See gazebo pull request 1114 for the implementation of this feature.
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https://bitbucket.org/osrf/gazebo/pull-request/1114
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https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1114
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</description>
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</element>
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</element> <!-- End Solver -->

sdf/1.6/joint.sdf

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Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@
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<description>
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Flag to interpret the axis xyz element in the parent model frame instead
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of joint frame. Provided for Gazebo compatibility
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(see https://bitbucket.org/osrf/gazebo/issue/494 ).
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(see https://github.com/osrf/gazebo/issue/494 ).
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</description>
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</element>
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<element name="dynamics" required="0">
@@ -125,7 +125,7 @@
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<description>
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Flag to interpret the axis xyz element in the parent model frame instead
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of joint frame. Provided for Gazebo compatibility
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(see https://bitbucket.org/osrf/gazebo/issue/494 ).
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(see https://github.com/osrf/gazebo/issue/494 ).
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</description>
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</element>
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<element name="dynamics" required="0">

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