346 lines
17 KiB
Markdown
346 lines
17 KiB
Markdown
## SDFormat 4.0
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### SDFormat 4.x.x (2017-xx-xx)
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### SDFormat 4.4.0 (2017-10-26)
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1. Add ODE parallelization parameters: threaded islands and position correction
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* [Pull request 380](https://bitbucket.org/osrf/sdformat/pull-request/380)
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1. surface.sdf: expand documentation of friction and slip coefficients
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* [Pull request 343](https://bitbucket.org/osrf/sdformat/pull-request/343)
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1. Add preserveFixedJoint option to the URDF parser
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* [Pull request 352](https://bitbucket.org/osrf/sdformat/pull-request/352)
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1. Add light as child of link
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* [Pull request 373](https://bitbucket.org/osrf/sdformat/pull-request/373)
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### SDFormat 4.3.2 (2017-07-19)
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1. Add documentation for `Element::GetFirstElement()` and `Element::GetNextElement()`
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* [Pull request 341](https://bitbucket.org/osrf/sdformat/pull-request/341)
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1. Fix parser to read plugin child elements within an `<include>`
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* [Pull request 350](https://bitbucket.org/osrf/sdformat/pull-request/350)
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### SDFormat 4.3.1 (2017-03-24)
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1. Fix segmentation Fault in `sdf::getBestSupportedModelVersion`
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* [Pull request 327](https://bitbucket.org/osrf/sdformat/pull-requests/327)
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* [Issue 152](https://bitbucket.org/osrf/sdformat/issues/152)
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### SDFormat 4.3.0 (2017-03-20)
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1. Choosing models with more recent sdf version with `<include>` tag
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* [Pull request 291](https://bitbucket.org/osrf/sdformat/pull-request/291)
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* [Issue 123](https://bitbucket.org/osrf/sdformat/issues/123)
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1. Added `<category_bitmask>` to 1.6 surface contact parameters
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* [Pull request 318](https://bitbucket.org/osrf/sdformat/pull-request/318)
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1. Support light insertion in state
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* [Pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325)
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1. Case insensitive boolean strings
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* [Pull request 322](https://bitbucket.org/osrf/sdformat/pull-request/322)
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1. Enable coverage testing
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* [Pull request 317](https://bitbucket.org/osrf/sdformat/pull-request/317)
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1. Add `friction_model` parameter to ode solver
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* [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294)
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* [Gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522)
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1. Added `sampling` parameter to `<heightmap>` SDF element.
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* [Pull request 293](https://bitbucket.org/osrf/sdformat/pull-request/293)
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1. Added Migration guide
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* [Pull request 290](https://bitbucket.org/osrf/sdformat/pull-request/290)
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1. Add cmake `@PKG_NAME@_LIBRARY_DIRS` variable to cmake config file
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* [Pull request 292](https://bitbucket.org/osrf/sdformat/pull-request/292)
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### SDFormat 4.2.0 (2016-10-10)
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1. Added tag to specify ODE friction model.
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* [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294)
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1. Fix URDF to SDF `self_collide` bug.
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* [Pull request 287](https://bitbucket.org/osrf/sdformat/pull-request/287)
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1. Added IMU orientation specification to SDF.
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* [Pull request 284](https://bitbucket.org/osrf/sdformat/pull-request/284)
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### SDFormat 4.1.1 (2016-07-08)
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1. Added documentation and animation to `<actor>` element.
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* [Pull request 280](https://bitbucket.org/osrf/sdformat/pull-request/280)
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1. Added tag to specify initial joint position
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* [Pull request 279](https://bitbucket.org/osrf/sdformat/pull-request/279)
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### SDFormat 4.1.0 (2016-04-01)
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1. Added SDF conversion functions to parser including sdf::convertFile and sdf::convertString.
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* [Pull request 266](https://bitbucket.org/osrf/sdformat/pull-request/266)
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1. Added an upload script
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* [Pull request 256](https://bitbucket.org/osrf/sdformat/pull-request/256)
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### SDFormat 4.0.0 (2015-01-12)
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1. Boost pointers and boost::function in the public API have been replaced
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by their std::equivalents (C++11 standard)
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1. Move gravity and magnetic_field tags from physics to world
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* [Pull request 247](https://bitbucket.org/osrf/sdformat/pull-request/247)
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1. Switch lump link prefix from lump:: to lump_
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* [Pull request 245](https://bitbucket.org/osrf/sdformat/pull-request/245)
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1. New <wind> element.
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A contribution from Olivier Crave
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* [Pull request 240](https://bitbucket.org/osrf/sdformat/pull-request/240)
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1. Add scale to model state
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* [Pull request 246](https://bitbucket.org/osrf/sdformat/pull-request/246)
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1. Use stof functions to parse hex strings as floating point params.
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A contribution from Rich Mattes
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* [Pull request 250](https://bitbucket.org/osrf/sdformat/pull-request/250)
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1. Fix memory leaks.
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A contribution from Silvio Traversaro
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* [Pull request 249](https://bitbucket.org/osrf/sdformat/pull-request/249)
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1. Update SDF to version 1.6: new style for representing the noise properties
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of an `imu`
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* [Pull request 243](https://bitbucket.org/osrf/sdformat/pull-request/243)
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* [Pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199)
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## SDFormat 3.0
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### SDFormat 3.X.X (201X-XX-XX)
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1. Improve precision of floating point parameters
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* [Pull request 273](https://bitbucket.org/osrf/sdformat/pull-requests/273)
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* [Pull request 276](https://bitbucket.org/osrf/sdformat/pull-requests/276)
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### SDFormat 3.7.0 (2015-11-20)
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1. Add spring pass through for sdf3
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* [Design document](https://bitbucket.org/osrf/gazebo_design/pull-requests/23)
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* [Pull request 242](https://bitbucket.org/osrf/sdformat/pull-request/242)
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1. Support frame specification in SDF
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* [Pull request 237](https://bitbucket.org/osrf/sdformat/pull-request/237)
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1. Remove boost from SDFExtension
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* [Pull request 229](https://bitbucket.org/osrf/sdformat/pull-request/229)
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### SDFormat 3.6.0 (2015-10-27)
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1. Add light state
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* [Pull request 227](https://bitbucket.org/osrf/sdformat/pull-request/227)
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1. redo pull request #222 for sdf3 branch
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* [Pull request 232](https://bitbucket.org/osrf/sdformat/pull-request/232)
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1. Fix links in API documentation
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* [Pull request 231](https://bitbucket.org/osrf/sdformat/pull-request/231)
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### SDFormat 3.5.0 (2015-10-07)
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1. Camera lens description (Replaces #213)
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* [Pull request 215](https://bitbucket.org/osrf/sdformat/pull-request/215)
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1. Fix shared pointer reference loop in Element and memory leak (#104)
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* [Pull request 230](https://bitbucket.org/osrf/sdformat/pull-request/230)
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### SDFormat 3.4.0 (2015-10-05)
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1. Support nested model states
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* [Pull request 223](https://bitbucket.org/osrf/sdformat/pull-request/223)
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1. Cleaner way to set SDF_PATH for tests
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* [Pull request 226](https://bitbucket.org/osrf/sdformat/pull-request/226)
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### SDFormat 3.3.0 (2015-09-15)
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1. Windows Boost linking errors
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* [Pull request 206](https://bitbucket.org/osrf/sdformat/pull-request/206)
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1. Nested SDF -> sdf3
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* [Pull request 221](https://bitbucket.org/osrf/sdformat/pull-request/221)
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1. Pointer types
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* [Pull request 218](https://bitbucket.org/osrf/sdformat/pull-request/218)
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1. Torsional friction default surface radius not infinity
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* [Pull request 217](https://bitbucket.org/osrf/sdformat/pull-request/217)
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### SDFormat 3.2.2 (2015-08-24)
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1. Added battery element (contribution from Olivier Crave)
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* [Pull request #204](https://bitbucket.org/osrf/sdformat/pull-request/204)
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1. Torsional friction backport
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* [Pull request #211](https://bitbucket.org/osrf/sdformat/pull-request/211)
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1. Allow Visual Studio 2015
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* [Pull request #208](https://bitbucket.org/osrf/sdformat/pull-request/208)
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### SDFormat 3.1.1 (2015-08-03)
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1. Fix tinyxml linking error
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* [Pull request #209](https://bitbucket.org/osrf/sdformat/pull-request/209)
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### SDFormat 3.1.0 (2015-08-02)
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1. Added logical camera sensor to SDF
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* [Pull request #207](https://bitbucket.org/osrf/sdformat/pull-request/207)
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### SDFormat 3.0.0 (2015-07-24)
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1. Added battery to SDF
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* [Pull request 204](https://bitbucket.org/osrf/sdformat/pull-request/204)
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1. Added altimeter sensor to SDF
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* [Pull request #197](https://bitbucket.org/osrf/sdformat/pull-request/197)
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1. Added magnetometer sensor to SDF
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* [Pull request 198](https://bitbucket.org/osrf/sdformat/pull-request/198)
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1. Fix detection of XML parsing errors
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* [Pull request 190](https://bitbucket.org/osrf/sdformat/pull-request/190)
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1. Support for fixed joints
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* [Pull request 194](https://bitbucket.org/osrf/sdformat/pull-request/194)
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1. Adding iterations to state
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* [Pull request 188](https://bitbucket.org/osrf/sdformat/pull-request/188)
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1. Convert to use ignition-math
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* [Pull request 173](https://bitbucket.org/osrf/sdformat/pull-request/173)
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1. Add world origin to scene
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* [Pull request 183](https://bitbucket.org/osrf/sdformat/pull-request/183)
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1. Fix collide bitmask
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* [Pull request 182](https://bitbucket.org/osrf/sdformat/pull-request/182)
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1. Adding meta information to visuals
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* [Pull request 180](https://bitbucket.org/osrf/sdformat/pull-request/180)
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1. Add projection type to gui camera
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* [Pull request 178](https://bitbucket.org/osrf/sdformat/pull-request/178)
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1. Fix print description to include attribute description
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* [Pull request 170](https://bitbucket.org/osrf/sdformat/pull-request/170)
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1. Add -std=c++11 flag to sdf_config.cmake.in and sdformat.pc.in, needed by downstream code
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* [Pull request 172](https://bitbucket.org/osrf/sdformat/pull-request/172)
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1. Added boost::any accessor for Param and Element
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* [Pull request 166](https://bitbucket.org/osrf/sdformat/pull-request/166)
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1. Remove tinyxml from dependency list
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* [Pull request 152](https://bitbucket.org/osrf/sdformat/pull-request/152)
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1. Added self_collide element for model
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* [Pull request 149](https://bitbucket.org/osrf/sdformat/pull-request/149)
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1. Added a collision bitmask field to sdf-1.5 and c++11 support
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* [Pull request 145](https://bitbucket.org/osrf/sdformat/pull-request/145)
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1. Fix problems with latin locales and decimal numbers (issue #60)
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* [Pull request 147](https://bitbucket.org/osrf/sdformat/pull-request/147)
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* [Issue 60](https://bitbucket.org/osrf/sdformat/issues/60)
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## SDFormat 2.x
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1. rename cfm_damping --> implicit_spring_damper
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* [Pull request 59](https://bitbucket.org/osrf/sdformat/pull-request/59)
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1. add gear_ratio and reference_body for gearbox joint.
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* [Pull request 62](https://bitbucket.org/osrf/sdformat/pull-request/62)
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1. Update joint stop stiffness and dissipation
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* [Pull request 61](https://bitbucket.org/osrf/sdformat/pull-request/61)
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1. Support for GNUInstallDirs
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* [Pull request 64](https://bitbucket.org/osrf/sdformat/pull-request/64)
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1. `<use_true_size>` element used by DEM heightmaps
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* [Pull request 67](https://bitbucket.org/osrf/sdformat/pull-request/67)
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1. Do not export urdf symbols in sdformat 1.4
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* [Pull request 75](https://bitbucket.org/osrf/sdformat/pull-request/75)
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1. adding deformable properties per issue #32
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* [Pull request 78](https://bitbucket.org/osrf/sdformat/pull-request/78)
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* [Issue 32](https://bitbucket.org/osrf/sdformat/issues/32)
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1. Support to use external URDF
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* [Pull request 77](https://bitbucket.org/osrf/sdformat/pull-request/77)
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1. Add lighting element to visual
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* [Pull request 79](https://bitbucket.org/osrf/sdformat/pull-request/79)
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1. SDF 1.5: add flag to fix joint axis frame #43 (gazebo issue 494)
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* [Pull request 83](https://bitbucket.org/osrf/sdformat/pull-request/83)
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* [Issue 43](https://bitbucket.org/osrf/sdformat/issues/43)
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* [Gazebo issue 494](https://bitbucket.org/osrf/gazebo/issues/494)
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1. Implement SDF_PROTOCOL_VERSION (issue #51)
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* [Pull request 90](https://bitbucket.org/osrf/sdformat/pull-request/90)
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1. Port sdformat to compile on Windows (MSVC)
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* [Pull request 101](https://bitbucket.org/osrf/sdformat/pull-request/101)
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1. Separate material properties in material.sdf
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* [Pull request 104](https://bitbucket.org/osrf/sdformat/pull-request/104)
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1. Add road textures (repeat pull request #104 for sdf_2.0)
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* [Pull request 105](https://bitbucket.org/osrf/sdformat/pull-request/105)
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1. Add Extruded Polylines as a model
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* [Pull request 93](https://bitbucket.org/osrf/sdformat/pull-request/93)
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1. Added polyline for sdf_2.0
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* [Pull request 106](https://bitbucket.org/osrf/sdformat/pull-request/106)
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1. Add spring_reference and spring_stiffness tags to joint axis dynamics
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* [Pull request 102](https://bitbucket.org/osrf/sdformat/pull-request/102)
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1. Fix actor static
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* [Pull request 110](https://bitbucket.org/osrf/sdformat/pull-request/110)
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1. New <Population> element
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* [Pull request 112](https://bitbucket.org/osrf/sdformat/pull-request/112)
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1. Add camera distortion element
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* [Pull request 120](https://bitbucket.org/osrf/sdformat/pull-request/120)
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1. Inclusion of magnetic field strength sensor
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* [Pull request 123](https://bitbucket.org/osrf/sdformat/pull-request/123)
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1. Properly add URDF gazebo extensions blobs to SDF joint elements
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* [Pull request 125](https://bitbucket.org/osrf/sdformat/pull-request/125)
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1. Allow gui plugins to be specified in SDF
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* [Pull request 127](https://bitbucket.org/osrf/sdformat/pull-request/127)
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1. Backport magnetometer
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* [Pull request 128](https://bitbucket.org/osrf/sdformat/pull-request/128)
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1. Add flag for MOI rescaling to sdf 1.4
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* [Pull request 121](https://bitbucket.org/osrf/sdformat/pull-request/121)
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1. Parse urdf joint friction parameters, add corresponding test
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* [Pull request 129](https://bitbucket.org/osrf/sdformat/pull-request/129)
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1. Allow reading of boolean values from plugin elements.
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* [Pull request 132](https://bitbucket.org/osrf/sdformat/pull-request/132)
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1. Implement generation of XML Schema files (issue #2)
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* [Pull request 91](https://bitbucket.org/osrf/sdformat/pull-request/91)
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1. Fix build for OS X 10.10
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* [Pull request 135](https://bitbucket.org/osrf/sdformat/pull-request/135)
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1. Improve performance in loading <include> SDF elements
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* [Pull request 138](https://bitbucket.org/osrf/sdformat/pull-request/138)
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1. Added urdf gazebo extension option to disable fixed joint lumping
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* [Pull request 133](https://bitbucket.org/osrf/sdformat/pull-request/133)
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1. Support urdfdom 0.3 (alternative to pull request #122)
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* [Pull request 141](https://bitbucket.org/osrf/sdformat/pull-request/141)
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1. Update list of supported joint types
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* [Pull request 142](https://bitbucket.org/osrf/sdformat/pull-request/142)
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1. Ignore unknown elements
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* [Pull request 148](https://bitbucket.org/osrf/sdformat/pull-request/148)
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1. Physics preset attributes
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* [Pull request 146](https://bitbucket.org/osrf/sdformat/pull-request/146)
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1. Backport fix for latin locales (pull request #147)
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* [Pull request 150](https://bitbucket.org/osrf/sdformat/pull-request/150)
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## SDFormat 1.4
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### SDFormat 1.4.8 (2013-09-06)
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1. Fix inertia transformations when reducing fixed joints in URDF
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* [Pull request 48](https://bitbucket.org/osrf/sdformat/pull-request/48/fix-for-issue-22-reducing-inertia-across/diff)
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1. Add <use_terrain_paging> element to support terrain paging in gazebo
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* [Pull request 47](https://bitbucket.org/osrf/sdformat/pull-request/47/add-element-inside-heightmap/diff)
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1. Further reduce console output when using URDF models
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* [Pull request 46](https://bitbucket.org/osrf/sdformat/pull-request/46/convert-a-few-more-sdfwarns-to-sdflog-fix/diff)
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* [Commit](https://bitbucket.org/osrf/sdformat/commits/b15d5a1ecc57abee6691618d02d59bbc3d1b84dc)
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### SDFormat 1.4.7 (2013-08-22)
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1. Direct console messages to std_err
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* [Pull request 44](https://bitbucket.org/osrf/sdformat/pull-request/44/fix-19-direct-all-messages-to-std_err)
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### SDFormat 1.4.6 (2013-08-20)
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1. Add tags for GPS sensor and sensor noise
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* [Pull request 36](https://bitbucket.org/osrf/sdformat/pull-request/36/gps-sensor-sensor-noise-and-spherical)
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1. Add tags for wireless transmitter/receiver models
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* [Pull request 34](https://bitbucket.org/osrf/sdformat/pull-request/34/transceiver-support)
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* [Pull request 43](https://bitbucket.org/osrf/sdformat/pull-request/43/updated-description-of-the-transceiver-sdf)
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1. Add tags for playback of audio files in Gazebo
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* [Pull request 26](https://bitbucket.org/osrf/sdformat/pull-request/26/added-audio-tags)
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* [Pull request 35](https://bitbucket.org/osrf/sdformat/pull-request/35/move-audio-to-link-and-playback-on-contact)
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1. Add tags for simbody physics parameters
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* [Pull request 32](https://bitbucket.org/osrf/sdformat/pull-request/32/merging-some-updates-from-simbody-branch)
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1. Log messages to a file, reduce console output
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* [Pull request 33](https://bitbucket.org/osrf/sdformat/pull-request/33/log-messages-to-file-8)
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1. Generalize ode's <provide_feedback> element
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* [Pull request 38](https://bitbucket.org/osrf/sdformat/pull-request/38/add-provide_feedback-for-bullet-joint)
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1. Various bug, style and test fixes
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### SDFormat 1.4.5 (2013-07-23)
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1. Deprecated Gazebo's internal SDF code
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1. Use templatized Get functions for retrieving values from SDF files
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1. Removed dependency on ROS
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