1## SDFormat 8.0 2 3### SDFormat 8.0.0 (xxxx-xx-xx) 4 51. Change cmake project name to sdformat8, export cmake targets 6 * [Pull request 475](https://bitbucket.org/osrf/sdformat/pull-requests/475) 7 * [Pull request 476](https://bitbucket.org/osrf/sdformat/pull-requests/476) 8 91. SDF DOM: Add copy constructor and assignment operator to Light. Add lights to Link 10 * [Pull request 469](https://bitbucket.org/osrf/sdformat/pull-requests/469) 11 121. Make `<limit>` a required element for `<axis2>` 13 * [Pull request #472](https://bitbucket.org/osrf/sdformat/pull-requests/472) 14 151. SDF DOM: Add DOM methods for setting axis and thread pitch in `sdf::Joint` 16 * [Pull request #471](https://bitbucket.org/osrf/sdformat/pull-requests/471) 17 * [Pull request #474](https://bitbucket.org/osrf/sdformat/pull-requests/474) 18 191. SDF DOM: Add copy constructors and assignment operator to JointAxis 20 * [Pull request #470](https://bitbucket.org/osrf/sdformat/pull-requests/470) 21 221. Removed boost 23 * [Pull request #438](https://bitbucket.org/osrf/sdformat/pull-requests/438) 24 251. Versioned namespace 26 * [Pull request 464](https://bitbucket.org/osrf/sdformat/pull-requests/464) 27 281. Versioned library install 29 * [Pull request 463](https://bitbucket.org/osrf/sdformat/pull-requests/463) 30 311. Add SetGeom to Collision 32 * [Pull request 465](https://bitbucket.org/osrf/sdformat/pull-requests/465) 33 341. SDF DOM: Add copy/move constructors and assignment operator to Geometry 35 * [Pull request 460](https://bitbucket.org/osrf/sdformat/pull-requests/460) 36 371. SDF DOM: Add copy/move constructors and assignment operator to Material 38 * [Pull request 461](https://bitbucket.org/osrf/sdformat/pull-requests/461) 39 40## SDFormat 7.0 41 42### SDFormat 7.0.0 (xxxx-xx-xx) 43 441. Preserve XML elements that are not part of the SDF specification. 45 * [Pull request 449](https://bitbucket.org/osrf/sdformat/pull-requests/449) 46 471. Embed SDF specification files directly in libsdformat.so. 48 * [Pull request 434](https://bitbucket.org/osrf/sdformat/pull-requests/434) 49 501. Removed support for SDF spec versions 1.0 and 1.2 51 * [Pull request #432](https://bitbucket.org/osrf/sdformat/pull-requests/432) 52 531. SDF DOM: Additions to the document object model. 54 * [Pull request 433](https://bitbucket.org/osrf/sdformat/pull-requests/433) 55 * [Pull request 441](https://bitbucket.org/osrf/sdformat/pull-requests/441) 56 * [Pull request 442](https://bitbucket.org/osrf/sdformat/pull-requests/442) 57 * [Pull request 445](https://bitbucket.org/osrf/sdformat/pull-requests/445) 58 * [Pull request 441](https://bitbucket.org/osrf/sdformat/pull-requests/441) 59 * [Pull request 451](https://bitbucket.org/osrf/sdformat/pull-requests/451) 60 * [Pull request 455](https://bitbucket.org/osrf/sdformat/pull-requests/455) 61 621. SDF DOM: Additions to the document object model. 63 * [Pull request 442](https://bitbucket.org/osrf/sdformat/pull-requests/442) 64 651. SDF DOM: Add Element() accessor to Gui, JointAxis and World classes. 66 * [Pull request 450](https://bitbucket.org/osrf/sdformat/pull-requests/450) 67 68## SDFormat 6.0 69 70### SDFormat 6.1.0 (xxxx-xx-xx) 71 721. Adds the equalivent of gz sdf -d to sdformat. The command line option 73 will print the full description of the SDF spec. 74 * [Pull request 424](https://bitbucket.org/osrf/sdformat/pull-requests/424) 75 761. SDF DOM: Additions to the document object model. 77 * [Pull request 393](https://bitbucket.org/osrf/sdformat/pull-requests/393) 78 * [Pull request 394](https://bitbucket.org/osrf/sdformat/pull-requests/394) 79 * [Pull request 395](https://bitbucket.org/osrf/sdformat/pull-requests/395) 80 * [Pull request 396](https://bitbucket.org/osrf/sdformat/pull-requests/396) 81 * [Pull request 397](https://bitbucket.org/osrf/sdformat/pull-requests/397) 82 * [Pull request 406](https://bitbucket.org/osrf/sdformat/pull-requests/406) 83 * [Pull request 407](https://bitbucket.org/osrf/sdformat/pull-requests/407) 84 * [Pull request 410](https://bitbucket.org/osrf/sdformat/pull-requests/410) 85 * [Pull request 415](https://bitbucket.org/osrf/sdformat/pull-requests/415) 86 * [Pull request 420](https://bitbucket.org/osrf/sdformat/pull-requests/420) 87 88### SDFormat 6.0.0 (2018-01-25) 89 901. SDF DOM: Added a document object model. 91 * [Pull request 387](https://bitbucket.org/osrf/sdformat/pull-requests/387) 92 * [Pull request 389](https://bitbucket.org/osrf/sdformat/pull-requests/389) 93 941. Add simplified ``readFile`` function. 95 * [Pull request 347](https://bitbucket.org/osrf/sdformat/pull-requests/347) 96 971. Remove boost::lexical cast instances 98 * [Pull request 342](https://bitbucket.org/osrf/sdformat/pull-requests/342) 99 1001. Remove boost regex and iostreams as dependencies 101 * [Pull request 302](https://bitbucket.org/osrf/sdformat/pull-requests/302) 102 1031. Change certain error checks from asserts to throwing 104 sdf::AssertionInternalError, which is more appropriate for a library. 105 * [Pull request 315](https://bitbucket.org/osrf/sdformat/pull-requests/315) 106 1071. Updated the internal copy of urdfdom to 1.0, removing more of boost. 108 * [Pull request 324](https://bitbucket.org/osrf/sdformat/pull-requests/324) 109 1101. urdfdom 1.0 is now required on all platforms. 111 * [Pull request 324](https://bitbucket.org/osrf/sdformat/pull-requests/324) 112 1131. Remove boost filesystem as a dependency 114 * [Pull request 335](https://bitbucket.org/osrf/sdformat/pull-requests/335) 115 * [Pull request 338](https://bitbucket.org/osrf/sdformat/pull-requests/338) 116 * [Pull request 339](https://bitbucket.org/osrf/sdformat/pull-requests/339) 117 1181. Deprecated sdf::Color, and switch to use ignition::math::Color 119 * [Pull request 330](https://bitbucket.org/osrf/sdformat/pull-requests/330) 120 121## SDFormat 5.x 122 123### SDFormat 5.x.x (2017-xx-xx) 124 125### SDFormat 5.3.0 (2017-11-13) 126 1271. Added wrapper around root SDF for an SDF element 128 * [Pull request 378](https://bitbucket.org/osrf/sdformat/pull-request/378) 129 * [Pull request 372](https://bitbucket.org/osrf/sdformat/pull-request/372) 130 1311. Add ODE parallelization parameters: threaded islands and position correction 132 * [Pull request 380](https://bitbucket.org/osrf/sdformat/pull-request/380) 133 1341. surface.sdf: expand documentation of friction and slip coefficients 135 * [Pull request 343](https://bitbucket.org/osrf/sdformat/pull-request/343) 136 1371. Add preserveFixedJoint option to the URDF parser 138 * [Pull request 352](https://bitbucket.org/osrf/sdformat/pull-request/352) 139 1401. Add light as child of link 141 * [Pull request 373](https://bitbucket.org/osrf/sdformat/pull-request/373) 142 143### SDFormat 5.2.0 (2017-08-03) 144 1451. Added a block for DART-specific physics properties. 146 * [Pull request 369](https://bitbucket.org/osrf/sdformat/pull-requests/369) 147 1481. Fix parser to read plugin child elements within an `<include>` 149 * [Pull request 350](https://bitbucket.org/osrf/sdformat/pull-request/350) 150 1511. Choosing models with more recent sdf version with `<include>` tag 152 * [Pull request 291](https://bitbucket.org/osrf/sdformat/pull-request/291) 153 * [Issue 123](https://bitbucket.org/osrf/sdformat/issues/123) 154 1551. Added `<category_bitmask>` to 1.6 surface contact parameters 156 * [Pull request 318](https://bitbucket.org/osrf/sdformat/pull-request/318) 157 1581. Support light insertion in state 159 * [Pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325) 160 1611. Case insensitive boolean strings 162 * [Pull request 322](https://bitbucket.org/osrf/sdformat/pull-request/322) 163 1641. Enable coverage testing 165 * [Pull request 317](https://bitbucket.org/osrf/sdformat/pull-request/317) 166 1671. Add `friction_model` parameter to ode solver 168 * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) 169 * [Gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522) 170 1711. Add cmake `@PKG_NAME@_LIBRARY_DIRS` variable to cmake config file 172 * [Pull request 292](https://bitbucket.org/osrf/sdformat/pull-request/292) 173 174### SDFormat 5.1.0 (2017-02-22) 175 1761. Fixed `sdf::convertFile` and `sdf::convertString` always converting to latest version 177 * [Pull request 320](https://bitbucket.org/osrf/sdformat/pull-requests/320) 1781. Added back the ability to set sdf version at runtime 179 * [Pull request 307](https://bitbucket.org/osrf/sdformat/pull-requests/307) 180 181### SDFormat 5.0.0 (2017-01-25) 182 1831. Removed SDFormat 4 deprecations 184 * [Pull request 295](https://bitbucket.org/osrf/sdformat/pull-requests/295) 185 1861. Added an example 187 * [Pull request 275](https://bitbucket.org/osrf/sdformat/pull-requests/275) 188 1891. Move functions that use TinyXML classes in private headers 190 A contribution from Silvio Traversaro 191 * [Pull request 262](https://bitbucket.org/osrf/sdformat/pull-requests/262) 192 1931. Fix issues found by the Coverity tool 194 A contribution from Olivier Crave 195 * [Pull request 259](https://bitbucket.org/osrf/sdformat/pull-requests/259) 196 1971. Add tag to allow for specification of initial joint position 198 * [Pull request 279](https://bitbucket.org/osrf/sdformat/pull-requests/279) 199 2001. Require ignition-math3 as dependency 201 * [Pull request 299](https://bitbucket.org/osrf/sdformat/pull-requests/299) 202 2031. Simplifier way of retrieving a value from SDF using Get 204 * [Pull request 285](https://bitbucket.org/osrf/sdformat/pull-requests/285) 205 206## SDFormat 4.0 207 208### SDFormat 4.x.x (2017-xx-xx) 209 210### SDFormat 4.4.0 (2017-10-26) 211 2121. Add ODE parallelization parameters: threaded islands and position correction 213 * [Pull request 380](https://bitbucket.org/osrf/sdformat/pull-request/380) 214 2151. surface.sdf: expand documentation of friction and slip coefficients 216 * [Pull request 343](https://bitbucket.org/osrf/sdformat/pull-request/343) 217 2181. Add preserveFixedJoint option to the URDF parser 219 * [Pull request 352](https://bitbucket.org/osrf/sdformat/pull-request/352) 220 2211. Add light as child of link 222 * [Pull request 373](https://bitbucket.org/osrf/sdformat/pull-request/373) 223 224### SDFormat 4.3.2 (2017-07-19) 225 2261. Add documentation for `Element::GetFirstElement()` and `Element::GetNextElement()` 227 * [Pull request 341](https://bitbucket.org/osrf/sdformat/pull-request/341) 228 2291. Fix parser to read plugin child elements within an `<include>` 230 * [Pull request 350](https://bitbucket.org/osrf/sdformat/pull-request/350) 231 232### SDFormat 4.3.1 (2017-03-24) 233 2341. Fix segmentation Fault in `sdf::getBestSupportedModelVersion` 235 * [Pull request 327](https://bitbucket.org/osrf/sdformat/pull-requests/327) 236 * [Issue 152](https://bitbucket.org/osrf/sdformat/issues/152) 237 238### SDFormat 4.3.0 (2017-03-20) 239 2401. Choosing models with more recent sdf version with `<include>` tag 241 * [Pull request 291](https://bitbucket.org/osrf/sdformat/pull-request/291) 242 * [Issue 123](https://bitbucket.org/osrf/sdformat/issues/123) 243 2441. Added `<category_bitmask>` to 1.6 surface contact parameters 245 * [Pull request 318](https://bitbucket.org/osrf/sdformat/pull-request/318) 246 2471. Support light insertion in state 248 * [Pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325) 249 2501. Case insensitive boolean strings 251 * [Pull request 322](https://bitbucket.org/osrf/sdformat/pull-request/322) 252 2531. Enable coverage testing 254 * [Pull request 317](https://bitbucket.org/osrf/sdformat/pull-request/317) 255 2561. Add `friction_model` parameter to ode solver 257 * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) 258 * [Gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522) 259 2601. Added `sampling` parameter to `<heightmap>` SDF element. 261 * [Pull request 293](https://bitbucket.org/osrf/sdformat/pull-request/293) 262 2631. Added Migration guide 264 * [Pull request 290](https://bitbucket.org/osrf/sdformat/pull-request/290) 265 2661. Add cmake `@PKG_NAME@_LIBRARY_DIRS` variable to cmake config file 267 * [Pull request 292](https://bitbucket.org/osrf/sdformat/pull-request/292) 268 269### SDFormat 4.2.0 (2016-10-10) 270 2711. Added tag to specify ODE friction model. 272 * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) 273 2741. Fix URDF to SDF `self_collide` bug. 275 * [Pull request 287](https://bitbucket.org/osrf/sdformat/pull-request/287) 276 2771. Added IMU orientation specification to SDF. 278 * [Pull request 284](https://bitbucket.org/osrf/sdformat/pull-request/284) 279 280### SDFormat 4.1.1 (2016-07-08) 281 2821. Added documentation and animation to `<actor>` element. 283 * [Pull request 280](https://bitbucket.org/osrf/sdformat/pull-request/280) 284 2851. Added tag to specify initial joint position 286 * [Pull request 279](https://bitbucket.org/osrf/sdformat/pull-request/279) 287 288### SDFormat 4.1.0 (2016-04-01) 289 2901. Added SDF conversion functions to parser including sdf::convertFile and sdf::convertString. 291 * [Pull request 266](https://bitbucket.org/osrf/sdformat/pull-request/266) 292 2931. Added an upload script 294 * [Pull request 256](https://bitbucket.org/osrf/sdformat/pull-request/256) 295 296### SDFormat 4.0.0 (2015-01-12) 297 2981. Boost pointers and boost::function in the public API have been replaced 299 by their std::equivalents (C++11 standard) 3001. Move gravity and magnetic_field tags from physics to world 301 * [Pull request 247](https://bitbucket.org/osrf/sdformat/pull-request/247) 3021. Switch lump link prefix from lump:: to lump_ 303 * [Pull request 245](https://bitbucket.org/osrf/sdformat/pull-request/245) 3041. New <wind> element. 305 A contribution from Olivier Crave 306 * [Pull request 240](https://bitbucket.org/osrf/sdformat/pull-request/240) 3071. Add scale to model state 308 * [Pull request 246](https://bitbucket.org/osrf/sdformat/pull-request/246) 3091. Use stof functions to parse hex strings as floating point params. 310 A contribution from Rich Mattes 311 * [Pull request 250](https://bitbucket.org/osrf/sdformat/pull-request/250) 3121. Fix memory leaks. 313 A contribution from Silvio Traversaro 314 * [Pull request 249](https://bitbucket.org/osrf/sdformat/pull-request/249) 3151. Update SDF to version 1.6: new style for representing the noise properties 316 of an `imu` 317 * [Pull request 243](https://bitbucket.org/osrf/sdformat/pull-request/243) 318 * [Pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199) 319 320## SDFormat 3.0 321 322### SDFormat 3.X.X (201X-XX-XX) 323 3241. Improve precision of floating point parameters 325 * [Pull request 273](https://bitbucket.org/osrf/sdformat/pull-requests/273) 326 * [Pull request 276](https://bitbucket.org/osrf/sdformat/pull-requests/276) 327 328### SDFormat 3.7.0 (2015-11-20) 329 3301. Add spring pass through for sdf3 331 * [Design document](https://bitbucket.org/osrf/gazebo_design/pull-requests/23) 332 * [Pull request 242](https://bitbucket.org/osrf/sdformat/pull-request/242) 333 3341. Support frame specification in SDF 335 * [Pull request 237](https://bitbucket.org/osrf/sdformat/pull-request/237) 336 3371. Remove boost from SDFExtension 338 * [Pull request 229](https://bitbucket.org/osrf/sdformat/pull-request/229) 339 340### SDFormat 3.6.0 (2015-10-27) 341 3421. Add light state 343 * [Pull request 227](https://bitbucket.org/osrf/sdformat/pull-request/227) 3441. redo pull request #222 for sdf3 branch 345 * [Pull request 232](https://bitbucket.org/osrf/sdformat/pull-request/232) 3461. Fix links in API documentation 347 * [Pull request 231](https://bitbucket.org/osrf/sdformat/pull-request/231) 348 349### SDFormat 3.5.0 (2015-10-07) 350 3511. Camera lens description (Replaces #213) 352 * [Pull request 215](https://bitbucket.org/osrf/sdformat/pull-request/215) 3531. Fix shared pointer reference loop in Element and memory leak (#104) 354 * [Pull request 230](https://bitbucket.org/osrf/sdformat/pull-request/230) 355 356### SDFormat 3.4.0 (2015-10-05) 357 3581. Support nested model states 359 * [Pull request 223](https://bitbucket.org/osrf/sdformat/pull-request/223) 3601. Cleaner way to set SDF_PATH for tests 361 * [Pull request 226](https://bitbucket.org/osrf/sdformat/pull-request/226) 362 363### SDFormat 3.3.0 (2015-09-15) 364 3651. Windows Boost linking errors 366 * [Pull request 206](https://bitbucket.org/osrf/sdformat/pull-request/206) 3671. Nested SDF -> sdf3 368 * [Pull request 221](https://bitbucket.org/osrf/sdformat/pull-request/221) 3691. Pointer types 370 * [Pull request 218](https://bitbucket.org/osrf/sdformat/pull-request/218) 3711. Torsional friction default surface radius not infinity 372 * [Pull request 217](https://bitbucket.org/osrf/sdformat/pull-request/217) 373 374### SDFormat 3.2.2 (2015-08-24) 375 3761. Added battery element (contribution from Olivier Crave) 377 * [Pull request #204](https://bitbucket.org/osrf/sdformat/pull-request/204) 3781. Torsional friction backport 379 * [Pull request #211](https://bitbucket.org/osrf/sdformat/pull-request/211) 3801. Allow Visual Studio 2015 381 * [Pull request #208](https://bitbucket.org/osrf/sdformat/pull-request/208) 382 383### SDFormat 3.1.1 (2015-08-03) 384 3851. Fix tinyxml linking error 386 * [Pull request #209](https://bitbucket.org/osrf/sdformat/pull-request/209) 387 388### SDFormat 3.1.0 (2015-08-02) 389 3901. Added logical camera sensor to SDF 391 * [Pull request #207](https://bitbucket.org/osrf/sdformat/pull-request/207) 392 393### SDFormat 3.0.0 (2015-07-24) 394 3951. Added battery to SDF 396 * [Pull request 204](https://bitbucket.org/osrf/sdformat/pull-request/204) 3971. Added altimeter sensor to SDF 398 * [Pull request #197](https://bitbucket.org/osrf/sdformat/pull-request/197) 3991. Added magnetometer sensor to SDF 400 * [Pull request 198](https://bitbucket.org/osrf/sdformat/pull-request/198) 4011. Fix detection of XML parsing errors 402 * [Pull request 190](https://bitbucket.org/osrf/sdformat/pull-request/190) 4031. Support for fixed joints 404 * [Pull request 194](https://bitbucket.org/osrf/sdformat/pull-request/194) 4051. Adding iterations to state 406 * [Pull request 188](https://bitbucket.org/osrf/sdformat/pull-request/188) 4071. Convert to use ignition-math 408 * [Pull request 173](https://bitbucket.org/osrf/sdformat/pull-request/173) 4091. Add world origin to scene 410 * [Pull request 183](https://bitbucket.org/osrf/sdformat/pull-request/183) 4111. Fix collide bitmask 412 * [Pull request 182](https://bitbucket.org/osrf/sdformat/pull-request/182) 4131. Adding meta information to visuals 414 * [Pull request 180](https://bitbucket.org/osrf/sdformat/pull-request/180) 4151. Add projection type to gui camera 416 * [Pull request 178](https://bitbucket.org/osrf/sdformat/pull-request/178) 4171. Fix print description to include attribute description 418 * [Pull request 170](https://bitbucket.org/osrf/sdformat/pull-request/170) 4191. Add -std=c++11 flag to sdf_config.cmake.in and sdformat.pc.in, needed by downstream code 420 * [Pull request 172](https://bitbucket.org/osrf/sdformat/pull-request/172) 4211. Added boost::any accessor for Param and Element 422 * [Pull request 166](https://bitbucket.org/osrf/sdformat/pull-request/166) 4231. Remove tinyxml from dependency list 424 * [Pull request 152](https://bitbucket.org/osrf/sdformat/pull-request/152) 4251. Added self_collide element for model 426 * [Pull request 149](https://bitbucket.org/osrf/sdformat/pull-request/149) 4271. Added a collision bitmask field to sdf-1.5 and c++11 support 428 * [Pull request 145](https://bitbucket.org/osrf/sdformat/pull-request/145) 4291. Fix problems with latin locales and decimal numbers (issue #60) 430 * [Pull request 147](https://bitbucket.org/osrf/sdformat/pull-request/147) 431 * [Issue 60](https://bitbucket.org/osrf/sdformat/issues/60) 432 433## SDFormat 2.x 434 4351. rename cfm_damping --> implicit_spring_damper 436 * [Pull request 59](https://bitbucket.org/osrf/sdformat/pull-request/59) 4371. add gear_ratio and reference_body for gearbox joint. 438 * [Pull request 62](https://bitbucket.org/osrf/sdformat/pull-request/62) 4391. Update joint stop stiffness and dissipation 440 * [Pull request 61](https://bitbucket.org/osrf/sdformat/pull-request/61) 4411. Support for GNUInstallDirs 442 * [Pull request 64](https://bitbucket.org/osrf/sdformat/pull-request/64) 4431. `<use_true_size>` element used by DEM heightmaps 444 * [Pull request 67](https://bitbucket.org/osrf/sdformat/pull-request/67) 4451. Do not export urdf symbols in sdformat 1.4 446 * [Pull request 75](https://bitbucket.org/osrf/sdformat/pull-request/75) 4471. adding deformable properties per issue #32 448 * [Pull request 78](https://bitbucket.org/osrf/sdformat/pull-request/78) 449 * [Issue 32](https://bitbucket.org/osrf/sdformat/issues/32) 4501. Support to use external URDF 451 * [Pull request 77](https://bitbucket.org/osrf/sdformat/pull-request/77) 4521. Add lighting element to visual 453 * [Pull request 79](https://bitbucket.org/osrf/sdformat/pull-request/79) 4541. SDF 1.5: add flag to fix joint axis frame #43 (gazebo issue 494) 455 * [Pull request 83](https://bitbucket.org/osrf/sdformat/pull-request/83) 456 * [Issue 43](https://bitbucket.org/osrf/sdformat/issues/43) 457 * [Gazebo issue 494](https://bitbucket.org/osrf/gazebo/issues/494) 4581. Implement SDF_PROTOCOL_VERSION (issue #51) 459 * [Pull request 90](https://bitbucket.org/osrf/sdformat/pull-request/90) 4601. Port sdformat to compile on Windows (MSVC) 461 * [Pull request 101](https://bitbucket.org/osrf/sdformat/pull-request/101) 4621. Separate material properties in material.sdf 463 * [Pull request 104](https://bitbucket.org/osrf/sdformat/pull-request/104) 4641. Add road textures (repeat pull request #104 for sdf_2.0) 465 * [Pull request 105](https://bitbucket.org/osrf/sdformat/pull-request/105) 4661. Add Extruded Polylines as a model 467 * [Pull request 93](https://bitbucket.org/osrf/sdformat/pull-request/93) 4681. Added polyline for sdf_2.0 469 * [Pull request 106](https://bitbucket.org/osrf/sdformat/pull-request/106) 4701. Add spring_reference and spring_stiffness tags to joint axis dynamics 471 * [Pull request 102](https://bitbucket.org/osrf/sdformat/pull-request/102) 4721. Fix actor static 473 * [Pull request 110](https://bitbucket.org/osrf/sdformat/pull-request/110) 4741. New <Population> element 475 * [Pull request 112](https://bitbucket.org/osrf/sdformat/pull-request/112) 4761. Add camera distortion element 477 * [Pull request 120](https://bitbucket.org/osrf/sdformat/pull-request/120) 4781. Inclusion of magnetic field strength sensor 479 * [Pull request 123](https://bitbucket.org/osrf/sdformat/pull-request/123) 4801. Properly add URDF gazebo extensions blobs to SDF joint elements 481 * [Pull request 125](https://bitbucket.org/osrf/sdformat/pull-request/125) 4821. Allow gui plugins to be specified in SDF 483 * [Pull request 127](https://bitbucket.org/osrf/sdformat/pull-request/127) 4841. Backport magnetometer 485 * [Pull request 128](https://bitbucket.org/osrf/sdformat/pull-request/128) 4861. Add flag for MOI rescaling to sdf 1.4 487 * [Pull request 121](https://bitbucket.org/osrf/sdformat/pull-request/121) 4881. Parse urdf joint friction parameters, add corresponding test 489 * [Pull request 129](https://bitbucket.org/osrf/sdformat/pull-request/129) 4901. Allow reading of boolean values from plugin elements. 491 * [Pull request 132](https://bitbucket.org/osrf/sdformat/pull-request/132) 4921. Implement generation of XML Schema files (issue #2) 493 * [Pull request 91](https://bitbucket.org/osrf/sdformat/pull-request/91) 4941. Fix build for OS X 10.10 495 * [Pull request 135](https://bitbucket.org/osrf/sdformat/pull-request/135) 4961. Improve performance in loading <include> SDF elements 497 * [Pull request 138](https://bitbucket.org/osrf/sdformat/pull-request/138) 4981. Added urdf gazebo extension option to disable fixed joint lumping 499 * [Pull request 133](https://bitbucket.org/osrf/sdformat/pull-request/133) 5001. Support urdfdom 0.3 (alternative to pull request #122) 501 * [Pull request 141](https://bitbucket.org/osrf/sdformat/pull-request/141) 5021. Update list of supported joint types 503 * [Pull request 142](https://bitbucket.org/osrf/sdformat/pull-request/142) 5041. Ignore unknown elements 505 * [Pull request 148](https://bitbucket.org/osrf/sdformat/pull-request/148) 5061. Physics preset attributes 507 * [Pull request 146](https://bitbucket.org/osrf/sdformat/pull-request/146) 5081. Backport fix for latin locales (pull request #147) 509 * [Pull request 150](https://bitbucket.org/osrf/sdformat/pull-request/150) 510 511## SDFormat 1.4 512 513### SDFormat 1.4.8 (2013-09-06) 514 5151. Fix inertia transformations when reducing fixed joints in URDF 516 * [Pull request 48](https://bitbucket.org/osrf/sdformat/pull-request/48/fix-for-issue-22-reducing-inertia-across/diff) 5171. Add <use_terrain_paging> element to support terrain paging in gazebo 518 * [Pull request 47](https://bitbucket.org/osrf/sdformat/pull-request/47/add-element-inside-heightmap/diff) 5191. Further reduce console output when using URDF models 520 * [Pull request 46](https://bitbucket.org/osrf/sdformat/pull-request/46/convert-a-few-more-sdfwarns-to-sdflog-fix/diff) 521 * [Commit](https://bitbucket.org/osrf/sdformat/commits/b15d5a1ecc57abee6691618d02d59bbc3d1b84dc) 522 523### SDFormat 1.4.7 (2013-08-22) 524 5251. Direct console messages to std_err 526 * [Pull request 44](https://bitbucket.org/osrf/sdformat/pull-request/44/fix-19-direct-all-messages-to-std_err) 527 528### SDFormat 1.4.6 (2013-08-20) 529 5301. Add tags for GPS sensor and sensor noise 531 * [Pull request 36](https://bitbucket.org/osrf/sdformat/pull-request/36/gps-sensor-sensor-noise-and-spherical) 5321. Add tags for wireless transmitter/receiver models 533 * [Pull request 34](https://bitbucket.org/osrf/sdformat/pull-request/34/transceiver-support) 534 * [Pull request 43](https://bitbucket.org/osrf/sdformat/pull-request/43/updated-description-of-the-transceiver-sdf) 5351. Add tags for playback of audio files in Gazebo 536 * [Pull request 26](https://bitbucket.org/osrf/sdformat/pull-request/26/added-audio-tags) 537 * [Pull request 35](https://bitbucket.org/osrf/sdformat/pull-request/35/move-audio-to-link-and-playback-on-contact) 5381. Add tags for simbody physics parameters 539 * [Pull request 32](https://bitbucket.org/osrf/sdformat/pull-request/32/merging-some-updates-from-simbody-branch) 5401. Log messages to a file, reduce console output 541 * [Pull request 33](https://bitbucket.org/osrf/sdformat/pull-request/33/log-messages-to-file-8) 5421. Generalize ode's <provide_feedback> element 543 * [Pull request 38](https://bitbucket.org/osrf/sdformat/pull-request/38/add-provide_feedback-for-bullet-joint) 5441. Various bug, style and test fixes 545 546### SDFormat 1.4.5 (2013-07-23) 547 5481. Deprecated Gazebo's internal SDF code 5491. Use templatized Get functions for retrieving values from SDF files 5501. Removed dependency on ROS 551