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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

[0.12.4] - 2025.01.01

Fixed

  • The loader will use the correct working path if used multiple times.

[0.12.3] - 2024.09.02

Added

  • d.ts definition for loadAsync.

[0.12.2] - 2024.08.28

Added

  • Support for "planar" and "floating" joint types.

Changed

  • setJointValues function can now take "null" vaues.

[0.12.1] - 2023-10-07

Fixed

  • Prismatic joints not moving as expected when there is a non-zero rotation.

[0.12.0] - 2023-05-12

Changed

  • Bump three.js version to 0.152.2.

[0.11.0] - 2023-05-02

Fixed

  • Add correct return type definitions for some functions.

Changed

  • Change use of *BufferGeometry classes to be *Geometry variants.
  • Bumped three.js peer dependency version requirement.

[0.10.5] - 2023-03-28

Changed

  • Removed log when modifying "mimic" joints.

[0.10.4] - 2021-05-18

Fixed

  • Internal URDF material colors are implicitly converted to Linear colors.

[0.10.3] - 2021-04-29

Fixed

  • Types for the loadMeshCb function.

[0.10.2] - 2021-04-22

Fixed

  • Typescript definition for "packages" field to include function.

[0.10.1] - 2021-04-16

Added

  • Reexport URDF Class types from the root file.

[0.10.0] - 2021-04-16

Fixed

  • URDFJoint.axis not correctly defaulting to 1, 0, 0.

Changed

  • Added "type": "module" to the package.json and made the main entry file point to the es6 module.
  • Export URDF Class types as interafaces rather than classes.
  • Changed URDF Class type definitions to be exported as interface rather than class.

[0.9.5] - 2021-01-26

Added

  • Support for "mimic" joints.

Fixed

  • Incorrect mouseover and mouseout event firing with the manipulation element.

[0.9.3] - 2021-01-19

Fixed

  • Unnecessary creation of a new quaternion when setting a joint angle.
  • Throw a human readable error when fetch fails.
  • The model failing to clone if the object names were changed.

Added

  • Ability to set the packages option to a function.

[0.9.2] - 2020-10-23

Added

  • Normal bias to shadows in URDFViewerElement.

Fixed

  • Apply the mesh node scale to the parent visual node rather than the loaded mesh.
  • URDFViewerElement incorrectly calling setJointValue.
  • Incorrectly preserving rotation from loaded meshes.

[0.9.1] - 2020-10-13

Fixed

  • Fix URDFRobot.setJointValues not always setting all joint values.

[0.9.0] - 2020-10-09

Added

  • URDFRobot.frames map.
  • URDFRobot.visual map.
  • URDFRobot.colliders map.
  • Visual and collider nodes now get the name of the associated urdf node.
  • Typescript definitions for URDFVisual and URDFCollider objects.
  • setJointValue function to URDFJoint and URDFRobot.
  • getFrame function to URDFRobot.

Changed

  • Transparent materials now set depthWrite to false.
  • Removed setOffset, setAngles, and setAngle functions from URDFJoint and URDFRobot.

Fixed

  • Incorrect use of worldMatrixNeedsUpdate to matrixWorldNeedsUpdate.

[0.8.2] - 2020-06-08

Changed

  • License text in README to remove unnecessary copy.

[0.8.1] - 2020-03-12

Added

  • Support for processing pre-parsed XML documents to the parse function. A Document or Element object as returned from DOMParser may be passed in place of the xml string.

[0.8.0] - 2020-01-03

Changed

  • Moved the URDFLoader options to member variables instead of an object paramter to parse and load functions.
  • Added onError and onProgress callbacks to load function.

[0.7.3] - 2019-11-08

Fixed

  • Incorrect handling of empty "texture" tags that caused materials to display improperly.

[0.7.2] - 2019-09-29

Changed

  • Caltech license copy.

[0.7.1] - 2019-06-29

Fixed

  • Typescript definition file for URDFLoader.

[0.7.0] - 2019-06-28

Changed

  • Use the jsm versions of the loader modules from three.js.
  • Bump three.js peer dependency to 0.105.0.

[0.6.3] - 2019-06-28

Added

  • Support for parsing collision nodes.

[0.6.2] - 2019-04-18

Added

  • Typescript definition files

[0.6.1] - 2019-03-06

Fixed

  • Continuous joints not being able to rotate.
  • Always parse joint angles to numbers.

[0.6.0] - 2019-02-23

Added

  • Added setAngle and setAngles function to the Robot node
  • Added meshLoadFunc and urlModifierFunc functions to URDFViewer component.

Changed

  • Changed loadMeshCb function API to take url, manager, and done.
  • Materials defined as "shared" by name in the URDF are shared among meshes, now.
  • The root link is now the same as the URDF Robot object.
  • Moved the packages parameter to the options object.

Removed

  • Removed urdfLoader and loadingManager fields from URDFViewer component.

[0.5.3] - 2018-12-17

Added

  • matrixWorldNeedsUpdate is set to true when the URDFJoints are set.

Fixed

  • Scale being overwritten on models that are loaded with pre-set scale values.
  • Loader not completing if a mesh could not be loaded.

[0.5.2] - 2018-12-5

Added

  • URDF XML Node to URDF Joint, Link, and Robot objects
  • Add clone functionality

Changed

  • OnComplete callback now fires once all meshes have loaded
  • Removed unnecessary parent when creating a cylinder visual node

[0.5.1] - 2018-11-14

Fixed

  • Use buffer variants of Box and Sphere geometry.
  • Fix the way that roll, pitch, yaw rotations are applied.

[0.5.0] - 2018-11-01

Changed

  • The root scripts are now es6 import compatible and require a build process to use

Added

  • Backward compatible umd versions of the scripts in /umd
  • Support for shared, named materials in the URDF

[0.4.3] - 2018-10-10

Added

  • Add no-auto-recenter field to the urdf-viewer web component.

[0.4.2] - 2018-08-19

Added

  • Include example/styles.css

[0.4.1] - 2018-08-19

Changed

  • README update

[0.4.0] - 2018-08-19

Changed

  • Add "path" variable to parse function signature
  • URDF paths are no longer resolved relative to the package path
  • parse function signature changed
  • parse returns the robot now
  • meshLoadCb and fetchOptions have been moved into an options argument object
  • Moved all fields from Object3D.urdf to the object itself
  • Changed type to jointType

Added

  • Add isURDFRobot, isURDFJoint, isURDFLink fields to the robot, joints, and links
  • Set the type field of the Object3D to URDFRobot, URDFJoint, and URDFLink

Removed

  • node field from the urdf info on joints, links, and the robot

[0.3.5] - 2018-08-07

Added

  • Add support for providing multiple package paths

Fixed

  • Debounce urdf load so errors are not printed when changing models
  • Create mesh primitives immediately instead of waiting a frame

[0.3.4] - 2018-07-31

Fixed

  • Fixed sphere primitives not being added to the model
  • Fixed cylinder primitive rotation

[0.3.3] - 2018-07-28

Changed

  • Make element auto redraw whenever a texture loads

Fixed

  • Fix drag and drop file path cleansing in example files
  • Fix console error on drag manipulation in manipulation element

[0.3.2] - 2018-07-03

Changed

  • Add urdf-manipulator element for demo

[0.3.1] - 2018-07-01

Fixed

  • Fix the example input fields not converting to radians

[0.3.0] - 2018-06-30

Changed

  • Model bounding box is used to make better use of shadow map resolution.
  • Fix joint controls still being clickable when hidden
  • Rename joint.urdf.limits to joint.urdf.limit so it lines up with the URDF definition
  • Full http:// or file:// uris are supported (package path is not prepended in this case)

[0.2.6] - 2018-06-28

Fixed

  • Render meshes double sided in shadows
  • Disable shadows casting on model when the shadow display is disabled

[0.2.5] - 2018-06-28

Changed

  • Do not change the material type provided by the mesh loader to MeshLambertMaterial when setting the colors from the URDF.
  • Use a hemisphere light and linear rendering in the element and example
  • Enable better shadow rendering

[0.2.4] - 2018-06-22

Changed

  • Change urdf-viewer element up attribute to default to +Z so it lines up with the default ROS coordinate frame

Fixed

  • Fix the default mesh loader throwing an error because this was undefined.

[0.2.3] - 2018-06-22

Added

  • Add the auto-redraw attribute to the urdf-viewer element

[0.2.2] - 2018-06-14

Added

  • Add redraw() function to the viewer element
  • Add flipped variants of the ATHLETE URDF models

Changed

  • Update example to start at a nicer viewing angle
  • Update some underlying example code

[0.2.1] - 2018-06-13

Changed

  • Optimize rendering in <urdf-viewer>
  • Keep the robot in the middle of the screen in <urdf-viewer>
  • Adjust the the <urdf-viewer> up attribute to line up with the default ROS coordinate frame

Fixed

  • Meshes not scaling the by mesh tags scale attribute
  • Revolute joints rotating the wrong direction

[0.1.2] - 2018-05-28

Added

  • Support for prismatic joints

Fixed

  • Fix not defaulting revolute joint limits to 0