CHANGELOG
Changelog for package urdfdom_py
1.2.1 (2023-05-01)
1.2.0 (2022-03-30)
1.1.0 (2021-03-15)
Use a Python entry point for ‘display_urdf’ (#64)
Move the ‘display_urdf’ script into the Python module (#64)
Make ‘file’ argument to display_urdf required (#64)
Make sure to add the version when creating a new URDF. (#62)
Remove the from_parameter_server method from urdf.py for ROS 2. (#63)
Silence pytest warnings when running locally. (#61)
Contributors: Chris Lalancette, Scott K Logan
1.0.0 (2020-03-10)
0.4.1 (2019-10-22)
0.4.0 (2018-02-21)
Add Link.visual and Link.collision properties (#28)
Add tests for mutli-visual and multi-collision
links and collisions load properly as aggregates
Add XPath information when a parse error is encountered
Remove travis support. (#22)
Reformat python code to pep8 standard (#21)
Update core.py to allow passing addHeader arg to to_xml_string function (#19)
fixed defaults for xyz/rpy, fixed set_default for Param, added unit tests (#16)
Make unit test run with catkin_make run_tests (#15)
Contributors: Chris Lalancette, Chris Paxton, Eric Cousineau, Shane Loretz, Will Baker, eugene-katsevman
0.3.3 (2017-02-10)
Made Chris and Shane the maintainers
Added python-lxml to the travis build.
Reverted line break (ros/urdfdom#77) now that there is a more generic solution. (#5)
Added line break to make errors easier to read. (#4)
Contributors: Chris Lalancette, Isaac I.Y. Saito
0.3.1 (2016-02-22)
Add travis
Add package.xml for ROS release
Tweak CMakeLists to reflect migration from urdfdom
Contributors: Jackie Kay
0.3.0 (2016-02-16)
[urdf_parser_py] Add missing newline
color and texture in link material are optional
fixed transmission parser to match specification http://wiki.ros.org/urdf/XML/Transmission#A.3Ctransmission.3E_Elements proper unittest for urdf_parser_py - added transmission parsing tests
Merge pull request #59 from goretkin/goretkin-optional-calibration joint calibration is optional
made hardware interface optional in both transmission actuator and joint
joint calibration is optional according to http://wiki.ros.org/urdf/XML/joint
set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional
urdf_parser_py.xml_reflection : python 3 compatibility Substitute ‘Exception, e’ with Exception as e. This ensure compatibility with Python 3 and Python 2.6,2.7 . Check https://docs.python.org/3/howto/pyporting.html#capturing-the-currently-raised-exception for more info.
urdf_parser_py: Confirmed that both new transmissions are parseable in the same robot. test: Added in specific test for tranmsissions. Have it print the type. @todo: Make this a unittest.
urdf_parser_py: Added attribute preservation for xmlr.RawType (i.e., <gazebo reference=”…”/>)
urdf_parser_py: Parsing new transmission format works. Need to add in test for old PR2 transmission types. test/calvin: Added in generated Calvin URDF provided by v4hn test/romeo: Reformatted to match Calvin test
urdf_parser_py.urdf: Adding duck-typed parsing for ros_control and PR2 transmissions.
[urdf_parser_py] Python3 compatibility
Contributors: Antonio El Khoury, Doug Sievers, Eric Cousineau, Gustavo Goretkin, Ioan A Sucan, Ioan Sucan, Jackie Kay, Kei Okada, Kelsey Hawkins, Séverin Lemaignan, Tamaki Nishino, Thomas Moulard, VahidAminZ, Vincent Rabaud, eacousineau, isucan
0.2.9 (2013-09-10)
add xml_reflection to the install rule
use install-layout deb
install urdf_python_py with plain cmake
xml_reflection: Moved into urdf_parser_py
urdf_parser_py, xml_reflection: Removed catkin build stuff
urdf_parser_py, xml_reflection: Remove runtime dependencies on rospy, roslib. Will remove catkin from setup.py, along with CMakeLists.txt files
README.md: Moving into urdf_parser_py
urdf/Transmission: Uncommented line. Need to figure out how to make transmission types more flexible (for usage with ros_control)
urdf: Commented out transmissions – need to address more generalized plugins (see ros_control packages)
urdf: Made sure that geometry children constraint does not count comments Removed .pyc files Conflicts: .gitignore
Added in some compatibility methods / accessors for calibration stack
CMakeLists.txt: Reflected path change {examples => scripts}/display_urdf package.xml’s: Removed python export path (does not apply)
test: Reorganized. TODO Make actual unit test?
xml_reflection: Refactoring into catkin package. Trying to figure out how to manage source setup.sh for development…
urdf: Changed ordering of tags to match that of romeo.urdf test: Added in romeo test (fuerte branch)
Corrected wrong import for xml_reflection.basics module
Added in test for pelican_urdf
xml_reflection: Made separate package, moved out of urdf_parser_py
urdf.Transmission: Needed to add tag
urdf.Transmission: Small bufix for type
urdf: Changed Mesh.scale attribute to not be required (thanks to Carlos De La Guardia)
Refactored variable names to match PEP 8 - http://www.python.org/dev/peps/pep-0008/#introduction
Finished refactoring. Instance methods: to_xml => write_xml, load_xml => read_xml. Class methods: from_{xml,string}
Renamed to_xml to dump_xml, but that is inconsistent with pyyaml. Will rename to {read,write}_xml for clarity.
Fixed bug in Robot.add_joint() (thanks to Carlos De La Guardia). Fixed some SDF stuff
Starting to develop SDF stuff
Touched up some namespace stuff a little, fixed example script.
Updated API, added back in static from_xml and generalized it. Updated example file.
Going to separate out xml and python variables
Starting to do some baic refactoring
Have Gazebo stuff working a little better. Yaml dumps work as well
Added in Gazebo tags, but it looks ugly… Need to just extra all children and insert those normally
Did that refactoring stuff
Refactoring loading design
Realizing that maybe I should make a factory-type object for aggregate types
Changing to accomadate aggregate types
Added in check_valid() for warnings / assertions
Things are updated now. Might run slower, but meh
Can at least run urdf.py
Things coming together code wise, but have not yet tested. Need to
Have basic reflection setup, continuing on
Modifying reflection setup
There’s a problem if an element is supposed to be unique and there’s multiple instances of it, it will be overwritten by later occurences. In what seems to be the policy of the urdfdom parser, it uses the first instance, whereas this implementation uses the last instance.
Tried to add in Gazebo stuff
Trying a few more complicated things
Seems to be working now
More reworking
Trying out a couple of methods
Doing some more rework
Adding transition, but want to set value easily… Going to try etree
Messing around with the yaml stuff
Bugfixed color stuff
Update version to 0.3.0
Add setup.py, remove comments
Catkinize package
Fix inertia matrix constructor. * ixy was set to iyy by mistake. * Reported by Joseph Salini.
Do not strip trailing zeros in float display. * Stripping trailing zeros causes the removal of exponents if value is expressed in scientific notation (e.g. 1.2e-10 -> 1.2e-1).
Fix float display while writing xml document. * The older method caused a loss of float precision when writing urdf file.
Added verbose flag to parsing methods. If false, the parser will not throw warnings if it encounters unknown elements.
Changed Joint names to strings (was causing a bug), added get_root which detects the link which is top in the tree (URDF’s should guarantee a unique root/tree structure), and added an option to get_chain which allows one to not include fixed joints in the chain.
Load link inertial origin when parsing URDF.
Do not display XML output in display_urdf.
Add tree structure pretty printing.
Allow the user to choose from which parameter the model is loaded.
Enhance naming following Kelsey Hawkins’s suggestions. - make load/parse methods static - rename load into load_xml_file, parse into parse_xml_string - rename loadFromParameterServer into load_from_paremeter_server
Ignore compiled Python files.
Support model loading from the parameter server. Make test generic.
Update manifest.xml to use epydoc.
Update manifest.xml.
Replace urdf_python by urdf_parser_py everywhere.
Remove unwanted packages.