[urdfdom] Update to 3.1.0 (#25591)

* [urdfdom] Update to 3.1.0 * Enable static builds * version * Remove from ci baseline * Update headers as well * use version * version * Update dartsim * version * only dynamic * version * Fix version * version * Update dartsim * version * [dartsim] update to fix Windows build failure * Add fmt dependence * urdfdom supports * Update ref * license * version * dartsim isn't supported on 32 bits anymore * version * [dartsim] update to 6.12.2 * version * maybe unused * version * Fix patch * version * cr urdfdom-headers * dartsim * urdfdom * version * license * version
2024-12-27 10:21:07 +08:00 · 2022-08-06 08:09:54 +02:00 · 2022-08-06 08:09:54 +02:00 · 3887833719
commit 3887833719
parent 4147b343c2
17 changed files with 133 additions and 204 deletions
--- a/ports/dartsim/disable_unit_tests_examples_and_tutorials.patch
+++ b/ports/dartsim/disable_unit_tests_examples_and_tutorials.patch
@ -1,13 +1,26 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9940065eb8..b25fa4919a 100644
+index 100bfb8b59be..b0779885c788 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -298,7 +298,7 @@ add_subdirectory(dart)
+@@ -292,7 +292,7 @@ add_subdirectory(dart)
 
 set(DART_IN_SOURCE_BUILD TRUE)
 
 -if(TARGET dart)
-+if(false)
+if(0)
 
   # Add a "tests" target to build unit tests.
   enable_testing()
+diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
+index 08ef983cdcfa..7092d89bb17d 100644
+--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
+@@ -1,6 +1,8 @@
+ set(DART_DARTPY_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/dartpy")
+ 
+ add_subdirectory(dartpy)
+if(0)
+ add_subdirectory(tests)
+ add_subdirectory(examples)
+ add_subdirectory(tutorials)
+endif()
--- a/ports/dartsim/portfile.cmake
+++ b/ports/dartsim/portfile.cmake
@ -4,8 +4,8 @@ vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
 vcpkg_from_github(
    OUT_SOURCE_PATH SOURCE_PATH
    REPO dartsim/dart
-    REF v6.11.0
-    SHA512 01fbff039bcec71d41334db2d07d0973b1ba58d30d05b29e35e1e3cee853917753b64e1101881113a33adb801559855d38d274fbb3383cfb24d85565254d112d
+    REF v6.12.2
+    SHA512 6d04da37d0eb40a35a3aaec583af024e2edf71d68bb38b6832760de21a349221387644ed9be0cc1e451c669bbf48eb53d8d0cd3be1b1b265a30be2aa17c7e48b
    HEAD_REF main
    PATCHES
        disable_unit_tests_examples_and_tutorials.patch
@ -22,9 +22,11 @@ vcpkg_cmake_configure(
        -DDART_SKIP_NLOPT=ON
        -DDART_SKIP_OPENGL=ON
        -DDART_SKIP_pagmo=ON
-        -Durdfdom_headers_VERSION_MAJOR=1
-        -Durdfdom_headers_VERSION_MINOR=0
-        -Durdfdom_headers_VERSION_PATCH=4
+        -Durdfdom_headers_VERSION_MAJOR=1 # urdfdom-headers does not expose a header macro for its version.
+        -Durdfdom_headers_VERSION_MINOR=0 # versions of at least 1.0.0 use std:: constructs in their ABI instead of boost:: ones.
+        -Durdfdom_headers_VERSION_PATCH=0
+    MAYBE_UNUSED_VARIABLES
+        DART_MSVC_DEFAULT_OPTIONS
 )

 vcpkg_cmake_install()
--- a/ports/dartsim/vcpkg.json
+++ b/ports/dartsim/vcpkg.json
@ -1,9 +1,10 @@
 {
  "name": "dartsim",
-  "version": "6.11.0",
-  "port-version": 3,
+  "version": "6.12.2",
  "description": "Dynamic Animation and Robotics Toolkit",
  "homepage": "https://dartsim.github.io/",
+  "license": "BSD-2-Clause",
+  "supports": "!x86",
  "dependencies": [
    "assimp",
    "boost-algorithm",
@ -18,6 +19,7 @@
    "ccd",
    "eigen3",
    "fcl",
+    "fmt",
    "octomap",
    "ode",
    "tinyxml2",
--- a/ports/urdfdom-headers/fix-include-path.patch
+++ b/ports/urdfdom-headers/fix-include-path.patch
@ -1,12 +1,25 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 25c3704..247ca0b 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -54,7 +54,7 @@ install(FILES
+   DESTINATION ${CMAKE_CONFIG_INSTALL_DIR} COMPONENT cmake)
+ 
+ # Make the package config file
+-if (NOT MSVC)
+if (1)
+   set(PACKAGE_DESC "Unified Robot Description Format")
+   set(pkg_conf_file "urdfdom_headers.pc")
+   configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/pkgconfig/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
 diff --git a/cmake/urdfdom_headers-config.cmake.in b/cmake/urdfdom_headers-config.cmake.in
-index 4686d39..026b65e 100644
+index b53e466..b35805a 100644
 --- a/cmake/urdfdom_headers-config.cmake.in
 +++ b/cmake/urdfdom_headers-config.cmake.in
@@ -3,8 +3,8 @@ if (@PACKAGE_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PACKAGE_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PACKAGE_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/include")
+-set(@PACKAGE_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
 +set(@PACKAGE_NAME@_INCLUDE_DIRS "${CMAKE_CURRENT_LIST_DIR}/../../include")
 
 -include("${@PACKAGE_NAME@_DIR}/@PACKAGE_NAME@Export.cmake")
--- a/ports/urdfdom-headers/portfile.cmake
+++ b/ports/urdfdom-headers/portfile.cmake
@ -1,41 +1,29 @@
 vcpkg_from_github(
    OUT_SOURCE_PATH SOURCE_PATH
    REPO ros/urdfdom_headers
-    REF a15d906ff16a7fcbf037687b9c63b946c0cc04a1 # 1.0.5
-    SHA512 794acd3b077a1d8fa27d0a698cecbce42f3a7b30f867e79b9897b0d97dcd9e80d2cf3b0c75ee34f628f73afb871c439fffe4a1d7ed85c7fac6553fb1e5b56c36
+    REF 2981892df9da19d10f58dc84de63820e4f554f63 # 1.1.0
+    SHA512 cc47d2fb9781f4c7f1af25ccfb4dc8cc9e72d2ec22cb2fe16866bb0e7ed40494181a413dcd74cb0407b4f5c20262f076f8ae87d605ba0e5477a57ff29ba30967
    HEAD_REF master
    PATCHES fix-include-path.patch
  )

-vcpkg_configure_cmake(
-    SOURCE_PATH ${SOURCE_PATH}
-    PREFER_NINJA
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
 )

-vcpkg_install_cmake()
+vcpkg_cmake_install()

-if(EXISTS ${CURRENT_PACKAGES_DIR}/CMake)
-    vcpkg_fixup_cmake_targets(CONFIG_PATH CMake TARGET_PATH share/urdfdom_headers)
+if(EXISTS "${CURRENT_PACKAGES_DIR}/CMake")
+    vcpkg_cmake_config_fixup(CONFIG_PATH CMake PACKAGE_NAME urdfdom_headers)
 else()
-    vcpkg_fixup_cmake_targets(CONFIG_PATH lib/urdfdom_headers/cmake TARGET_PATH share/urdfdom_headers)
-    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib/urdfdom_headers)
-    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/lib/urdfdom_headers)
+    vcpkg_cmake_config_fixup(CONFIG_PATH lib/urdfdom_headers/cmake PACKAGE_NAME urdfdom_headers)
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/urdfdom_headers")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/urdfdom_headers")
 endif()

-if(EXISTS ${CURRENT_PACKAGES_DIR}/lib/pkgconfig)
-    vcpkg_fixup_pkgconfig()
-endif()
+vcpkg_fixup_pkgconfig()

-# The config files for this project use underscore
-if(EXISTS ${CURRENT_PACKAGES_DIR}/share/urdfdom-headers)
-    file(RENAME ${CURRENT_PACKAGES_DIR}/share/urdfdom-headers ${CURRENT_PACKAGES_DIR}/share/urdfdom_headers)
-endif()
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")

-if(EXISTS ${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig)
-    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
-    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
-else()
-    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug)
-endif()
-
-file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
--- a/ports/urdfdom-headers/vcpkg.json
+++ b/ports/urdfdom-headers/vcpkg.json
@ -1,7 +1,17 @@
 {
  "name": "urdfdom-headers",
-  "version-string": "1.0.5",
-  "port-version": 2,
+  "version": "1.1.0",
  "description": "The URDF (U-Robot Description Format) headers provides core data structure headers for URDF.",
-  "homepage": "https://github.com/ros/urdfdom_headers"
+  "homepage": "https://github.com/ros/urdfdom_headers",
+  "license": "BSD-2-Clause",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
 }
--- a/ports/urdfdom/0001_use_math_defines.patch
+++ b/ports/urdfdom/0001_use_math_defines.patch
@ -1,26 +1,15 @@
-From a374a5b04db27fde58a11cc2ba5ea10a0d0a7dad Mon Sep 17 00:00:00 2001
-From: Mikhail Paulyshka <me@mixaill.tk>
-Date: Sun, 3 Sep 2017 23:24:55 +0300
-Subject: [PATCH] define _USE_MATH_DEFINES
-
---
- urdf_parser/CMakeLists.txt | 4 ++++
- 1 file changed, 4 insertions(+)
-
 diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
-index 333226e..2158965 100644
+index ac7c079..67f175d 100644
 --- a/urdf_parser/CMakeLists.txt
 +++ b/urdf_parser/CMakeLists.txt
-@@ -1,5 +1,9 @@
- include_directories(include)
+@@ -23,6 +23,10 @@ macro(add_urdfdom_library)
+     SOVERSION ${URDF_MAJOR_MINOR_VERSION})
+ endmacro()
 
 +if(MSVC)
-+add_definitions(-D_USE_MATH_DEFINES)
+  add_definitions(-D_USE_MATH_DEFINES)
 +endif()
 +
- add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
- target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
- set_target_properties(urdfdom_world PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
-- 
-2.12.2.windows.2
-
+ if(TARGET console_bridge::console_bridge)
+   set(console_bridge_link_libs "console_bridge::console_bridge")
+ else()
--- a/ports/urdfdom/0002_fix_exports.patch
+++ b/ports/urdfdom/0002_fix_exports.patch
@ -1,29 +0,0 @@
-From 06aa5a06ee543102bf1a4057601adba3490dad60 Mon Sep 17 00:00:00 2001
-From: Mikhail Paulyshka <me@mixaill.tk>
-Date: Sun, 3 Sep 2017 23:55:11 +0300
-Subject: [PATCH] fix exports
-
---
- urdf_parser/CMakeLists.txt | 2 ++
- 1 file changed, 2 insertions(+)
-
-diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
-index 2158965..c209228 100644
--- a/urdf_parser/CMakeLists.txt
-+++ b/urdf_parser/CMakeLists.txt
-@@ -15,10 +15,12 @@ set_target_properties(urdfdom_model PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERS
- add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp)
- target_link_libraries(urdfdom_sensor urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
- set_target_properties(urdfdom_sensor PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
-+set_target_properties(urdfdom_sensor PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
- 
- add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp)
- target_link_libraries(urdfdom_model_state ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
- set_target_properties(urdfdom_model_state PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
-+set_target_properties(urdfdom_model_state PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
- 
- # --------------------------------
- 
-- 
-2.12.2.windows.2
-
--- a/ports/urdfdom/0004_fix-dependency-console_bridge.patch
+++ b/ports/urdfdom/0004_fix-dependency-console_bridge.patch
@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 92762f1..f0d115d 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -41,7 +41,7 @@ if (NOT MSVC)
-   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
- endif()
- 
-find_package(console_bridge 0.3 REQUIRED)
-+find_package(console_bridge REQUIRED)
- include_directories(SYSTEM ${console_bridge_INCLUDE_DIRS})
- link_directories(${console_bridge_LIBRARY_DIRS})
- 
--- a/ports/urdfdom/0005-fix-config-and-install.patch
+++ b/ports/urdfdom/0005-fix-config-and-install.patch
@ -1,101 +1,40 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index f0d115d..9acbfbe 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -58,17 +58,18 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
- 
- enable_testing()
- 
-add_subdirectory(urdf_parser)
-
- if(WIN32 AND NOT CYGWIN)
-   set(CMAKE_CONFIG_INSTALL_DIR CMake)
- else()
-     set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/${PROJECT_NAME}/cmake/)
- endif()
- 
-+add_subdirectory(urdf_parser)
-+
- set(PKG_NAME ${PROJECT_NAME})
- set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
- set(PKG_DEPENDS urdfdom_headers console_bridge)
-+set(PKG_EXPORTS urdfdom)
- set(cmake_conf_file "cmake/urdfdom-config.cmake")
- configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
- install(FILES ${CMAKE_BINARY_DIR}/${cmake_conf_file}
 diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
-index fb81b47..8b4ef8f 100644
+index d8eb93d..3e5c42a 100644
 --- a/cmake/urdfdom-config.cmake.in
 +++ b/cmake/urdfdom-config.cmake.in
@@ -3,8 +3,12 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
+-set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@" "@TinyXML_INCLUDE_DIRS@")
 +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
 +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
- 
+ 
 +set(@PKG_NAME@_INCLUDE_DIRS "${_IMPORT_PREFIX}/include" "@TinyXML_INCLUDE_DIRS@")
-+
+ 
 +if (0)
 foreach(lib @PKG_LIBRARIES@)
   set(onelib "${lib}-NOTFOUND")
-   find_library(onelib ${lib}
-@@ -25,3 +29,13 @@ foreach(dep @PKG_DEPENDS@)
-   list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
-   list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
+   set(onelibd "${lib}-NOTFOUND")
+@@ -29,10 +33,14 @@ foreach(lib @PKG_LIBRARIES@)
+   endif()
+   list(APPEND @PKG_NAME@_TARGETS @PROJECT_NAME@::${lib})
 endforeach()
 +endif()
 +
 +include(CMakeFindDependencyMacro)
 +find_dependency(console_bridge)
-+
-+foreach(exp @PKG_EXPORTS@)
-+  include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
-+endforeach()
+ 
+ foreach(dep @PKG_DEPENDS@)
+   if(NOT ${dep}_FOUND)
+-    find_package(${dep})
+    find_dependency(${dep})
+   endif()
+   list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
+   list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
+@@ -41,3 +49,5 @@ endforeach()
+ foreach(exp @PKG_EXPORTS@)
+   include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
+ endforeach()
 +
 +set(@PKG_NAME@_LIBRARIES urdfdom::urdfdom_model urdfdom::urdfdom_world urdfdom::urdfdom_sensor urdfdom::urdfdom_model_state)
-\ No newline at end of file
-diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
-index 731b57a..ebd0586 100644
--- a/urdf_parser/CMakeLists.txt
-+++ b/urdf_parser/CMakeLists.txt
-@@ -39,10 +39,32 @@ if(BUILD_TESTING)
-   add_subdirectory(test)
- endif()
- 
-INSTALL(TARGETS urdfdom_model DESTINATION ${CMAKE_INSTALL_LIBDIR})
-INSTALL(TARGETS urdfdom_world DESTINATION ${CMAKE_INSTALL_LIBDIR})
-INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test
-  DESTINATION ${CMAKE_INSTALL_BINDIR})
-INSTALL(TARGETS urdfdom_sensor DESTINATION ${CMAKE_INSTALL_LIBDIR})
-INSTALL(TARGETS urdfdom_model_state DESTINATION ${CMAKE_INSTALL_LIBDIR})
-+INSTALL(
-+  TARGETS
-+  check_urdf
-+  urdf_to_graphiz
-+  urdf_mem_test
-+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-+)
-+INSTALL(
-+  TARGETS
-+  urdfdom_model
-+  urdfdom_world
-+  urdfdom_sensor
-+  urdfdom_model_state
-+  EXPORT
-+  urdfdom
-+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-+)
-+install(
-+  EXPORT urdfdom
-+  DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
-+  NAMESPACE "${PROJECT_NAME}::"
-+  FILE "urdfdomExport.cmake"
-+)
-+
- INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
--- a/ports/urdfdom/portfile.cmake
+++ b/ports/urdfdom/portfile.cmake
@ -1,26 +1,26 @@
 vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)

 vcpkg_from_github(
-  OUT_SOURCE_PATH SOURCE_PATH
-  REPO ros/urdfdom
-  REF 0da4b20675cdbe14b532d484a1c17df85b4e1584 # 1.0.4
-  SHA512 cad59307fef466e2bbe3769a4123571d48223ea25a80dde76cb25c9f6dfc961570090d188ddaf8fc93f41f355ffa240eb00abe20cdea4a5ee3e49f56d1258686
-  HEAD_REF master
-  PATCHES
-    0001_use_math_defines.patch
-    0002_fix_exports.patch
-    0004_fix-dependency-console_bridge.patch
-    0005-fix-config-and-install.patch
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO ros/urdfdom
+    REF 99ec1f99f2d175f07cc26e63082502ee62982dac # 3.1.0
+    SHA512 64bd96c6b56c300b92e2bd6a875c4bc3c4c5d2ee332a75a8d98099aee0db3e9c33fa7d75fdc4d013e7b6ac47296f524ef713639b06e66035135dfc2a8cca0276
+    HEAD_REF master
+    PATCHES
+        0001_use_math_defines.patch
+        0005-fix-config-and-install.patch
 )

 vcpkg_cmake_configure(
-  SOURCE_PATH "${SOURCE_PATH}"
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DBUILD_TESTING=OFF
 )

 vcpkg_cmake_install()
 vcpkg_copy_pdbs()

-vcpkg_copy_tools(TOOL_NAMES check_urdf urdf_mem_test urdf_to_graphiz AUTO_CLEAN)
+vcpkg_copy_tools(TOOL_NAMES check_urdf urdf_mem_test urdf_to_graphiz urdf_to_graphviz AUTO_CLEAN)

 if(VCPKG_TARGET_IS_WINDOWS)
    vcpkg_cmake_config_fixup(CONFIG_PATH CMake)
--- a/ports/urdfdom/vcpkg.json
+++ b/ports/urdfdom/vcpkg.json
@ -1,9 +1,10 @@
 {
  "name": "urdfdom",
-  "version": "1.0.4",
-  "port-version": 5,
+  "version": "3.1.0",
  "description": "Provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.",
  "homepage": "https://github.com/ros/urdfdom",
+  "license": "BSD-3-Clause",
+  "supports": "!staticcrt",
  "dependencies": [
    "console-bridge",
    "tinyxml",
--- a/scripts/ci.baseline.txt
+++ b/scripts/ci.baseline.txt
@ -1121,7 +1121,6 @@ unicorn-lib:x64-uwp=fail
 unittest-cpp:arm64-windows=fail
 unittest-cpp:arm-uwp=fail
 unittest-cpp:x64-uwp=fail
-urdfdom:x64-windows-static=fail
 usd:x86-windows=fail
 uthenticode:arm-uwp=fail
 uthenticode:x64-uwp=fail
--- a/versions/baseline.json
+++ b/versions/baseline.json
@ -1813,8 +1813,8 @@
      "port-version": 2
    },
    "dartsim": {
-      "baseline": "6.11.0",
-      "port-version": 3
+      "baseline": "6.12.2",
+      "port-version": 0
    },
    "dataframe": {
      "baseline": "1.19.0",
@ -7337,12 +7337,12 @@
      "port-version": 0
    },
    "urdfdom": {
-      "baseline": "1.0.4",
-      "port-version": 5
+      "baseline": "3.1.0",
+      "port-version": 0
    },
    "urdfdom-headers": {
-      "baseline": "1.0.5",
-      "port-version": 2
+      "baseline": "1.1.0",
+      "port-version": 0
    },
    "urho3d": {
      "baseline": "2021-03-01",
--- a/versions/d-/dartsim.json
+++ b/versions/d-/dartsim.json
@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "887126d7800fe033a8e70bfa369e0b990434c921",
+      "version": "6.12.2",
+      "port-version": 0
+    },
    {
      "git-tree": "8b816d852610f6ef105eedc49bcbe6ae4881f759",
      "version": "6.11.0",
--- a/versions/u-/urdfdom-headers.json
+++ b/versions/u-/urdfdom-headers.json
@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "dd11423fb71779a21a08de42cc5e0486478ad959",
+      "version": "1.1.0",
+      "port-version": 0
+    },
    {
      "git-tree": "557188bd804b7c57c882f39710ca21deb1b91db5",
      "version-string": "1.0.5",
--- a/versions/u-/urdfdom.json
+++ b/versions/u-/urdfdom.json
@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "35eed492633e8ac2b137093a51d13ad325d9e7c5",
+      "version": "3.1.0",
+      "port-version": 0
+    },
    {
      "git-tree": "a74450532028f2079b8ea0b20bb82ded93e951d6",
      "version": "1.0.4",