Changelog

Version 0.0.53

  • Fix NumPy float issue #46: https://github.com/clemense/yourdfpy/issues/45

Version 0.0.52

  • parse_mass() returns float instead of str

  • default parsed mass is 0.0 instead of 1.0 (see http://wiki.ros.org/urdf/XML/link)

  • Update trimesh dependency to trimesh[easy] (to support loading Collada meshes)

  • Won’t crash when loading model with joints that mimic unactuated/fixed joints.

Version 0.0.51

  • Fix path separator issues in Windows Issue 27

Version 0.0.50

  • A nothingburger

Version 0.0.49

  • Fix single link URDF trimesh scene bug PR26

Version 0.0.48

  • Implement -c/--configuration argument for yourdfpy

  • Add --animate flag to yourdfpy

Version 0.0.47

  • Bugfix: Parsing box dimensions

  • Change to trimesh.primitives.* for geometric primitives (instead of trimesh.creation.*)

Version 0.0.46

  • Bugfix: Named material with color wouldn’t be applied

Version 0.0.45

  • Upgrade to trimesh version 3.11.2

  • Add __eq__ operator to URDF based on equality of individual elements (order-invariant) PR18

  • Add material information PR15

  • Improve mesh filename search PR14

Version 0.0.44

  • Parse and write name attribute of material element

  • Apply colors to mesh if available

  • Handle empty scene exception (in case of URDF without meshes)

Version 0.0.43

  • Skip material loading for collision geometries

Version 0.0.42

  • Fix bug when updating robots with mimic joints

Version 0.0.41

  • yourdfpy.Sphere visible

Version 0.0.40

  • Add ‘file_path’, ‘file_name’, and ‘file_element’ to trimesh geometry’s metadata in case loaded OBJ file contains multiple parts

  • Load collision geometry for viz

Version 0.0.39

  • Fix mimic joint issue

Version 0.0.38

  • Change namespace of filename handlers

Version 0.0.37

  • Use visual/collision name property as geometry name for scene graph

  • Write visual/collision name property to URDF

Version 0.0.36

  • Fix validation of JointLimit

  • Add Dynamics to init.py

Version 0.0.35

  • Add force_single_geometry_per_link feature: similar to collision_mesh in urdfpy; will concatenate all meshes in a single link and only create one node in the scene graph. This is the new default for loading the collision scene.

Version 0.0.34

  • Fix missing Collision exposure in init.py

  • Add force_collision_mesh

Version 0.0.33

  • Add force_mesh to constructor; allows loading mesh files as single meshes instead of turning them into graphs (since trimesh can’t deal with meshes with multiple textures)

Version 0.0.32

  • Fix continuous joint during forward kinematics

  • Introduce DOF indices for actuated joints (to handle planar and floating types)

Version 0.0.31

  • Add num_dofs

  • Add zero_cfg property

  • Change function get_default_cfg to property center_cfg

  • Initial configuration is now the zero configuration not the center configuration (as previously)

Version 0.0.30

Version 0.0.29

Version 0.0.28

Version 0.0.27

  • Bugfix in travis deployment pipeline

Version 0.0.26

  • Bugfix: rename generate_scene_graph parameter

  • Bugfix of bugfix of previous version, which introduced a new bug

  • Bugfix: root URDF result of split_along_joints (scene was not in sync with model)

  • Add params to split_along_joints

  • Bugfix: parse_inertia resulted in wrong matrix dtype

Version 0.0.25

  • Bugfix: get_default_cfg returns flattened array

Version 0.0.24

  • Added pytests

  • Separate visual and collision scene

  • Rename constructor’s parameter create_scene_graph to build_scene_graph

  • Added ROS validation rules

  • Rename update_trimesh_scene to update_cfg, change arguments

  • Add get_transform function

  • Rename get_default_configuration to get_default_cfg

  • Proper handling of mimic joints

  • New members for actuated_joints

  • New base_link property

Version 0.0.23

  • The Great YOURDFPY Steering Committee (G.Y.S.C.) decides to jump as many version numbers ahead as needed to pass urdfpy

Version 0.0.14

  • The Great YOURDFPY Steering Committee (G.Y.S.C.) gives up on using only version numbers that are prime

Version 0.0.13

  • Adding images. For the Github crowd.

Version 0.0.11

  • These numbers are going up quickly.

Version 0.0.7

  • Wow. This was quite the evening.

Version 0.0.5

  • The Great YOURDFPY Steering Committee (G.Y.S.C.) decides to only use version numbers that are prime

Version 0.0.3

  • A version few remember and many ignored

Version 0.0.1

  • A version nobody remembers