Release Version 1.3.0

This is version 1.3.0 of the HEBI Robot Configuration Format.

Changelog:

• Added tree support (including output element definition)
• Added support for include elements
• Added support for mesh attributes

Release Version 1.2.0

This is version 1.2.0 of the HEBI Robot Configuration Format.

Changelog:

• Added support for R-series actuators, links, and brackets
• Added support for input and output link types (allowing for inline or right angle styles)
• Added explicit end-effector types to correspond to API end-effector frames
• Added explicit notion of "interface types" that enforce addition of only mechnically compatible elements
• Added optional "description" parameter for <robot>
• Updated example HRDF files, and added ones for standard R-series arms and arms with grippers

Release Version 1.1.0

This is version 1.1.0 of the HEBI Robot Configuration Format.

Changelog:

• added requirement of HRDF version number in file
• added relaxed whitespace parsing for vectors and matrices (spaces, tabs, carriage returns, and newlines)
• defined that implementations should support case-insensitive parsing of enums, but add warnings when encountering non-matches cases
• defined format for basic formula interpretation for single-element floating point fields
• added additional formula support grammer for rotation matrices
• added inertias (defaults to point mass)
• add offset and override attributes for built-in robot model elements (links, brackets, and actuators)

Release Version 1.0.0

This is the initial release of the HEBI Robot Configuration Format.

Changelog:

• Initial format creation, along with a formal description of v1.0.0 of the format. There is not yet a .xsd file for this.