DRC/Change log

See also DRCSim roadmap.


 * 1) drcsim 3.1.x

Works with

* gazebo-2.0.0+ * sdformat-1.4.9+ * sandia-hand 5.2.0+ * osrf-common-1.1.0+


 * 1) drcsim 3.1.1
 * [fix setup.sh to source ROS setup.bash](https://bitbucket.org/osrf/drcsim/pull-request/418/backport-setupsh-cleanup-to-drcsim_31)
 * Change in dependencies. Use the ros-$distro-gazebo-pkgs under the name of ros-$distro-gazebo-*-current. Same source code.


 * 1) drcsim 3.1.0

* Package Breakdown * irobot_hand_description: URDF description of the iRobot Hand model. * multisense_sl_description: URDF description of the MultiSense SL sensor head. * atlas_description: URDF description of the Atlas robot. * atlas_msgs: Contains `msg`, `srv`, `action` for Atlas and DRCSim. * drcsim_gazebo: Previously `atlas_utils`. Contains launch files and run-time configuration files. * drcsim_model_resources: Contains Gazebo model resources (media, models, world files). * drcsim_gazebo_plugins: Contains Gazebo (non-ROS) plugins previously located in `atlas_msgs`. * drcsim_gazebo_ros_plugins: Contains Gazebo ROS plugins previously located in `atlas_msgs`. As of drcsim-3.1.0, `drcsim_gazebo_ros_plugins` depends directly on [`gazebo_ros_pkgs`](https://github.com/ros-simulation/gazebo_ros_pkgs) and copies of standard Gazebo-ROS plugins have been removed form drcsim. `gazebo_ros_pkgs` has been released as a standard ROS package in Hydro, but not in Groovy. In Groovy, `ros-groovy-gazebo-ros-pkgs` are custom built and hosted by OSRF apt repo. * drcsim_tutorials: Miscellaneous tutorials for DRCSim. This package contains just the source files, not compiled and not installed to system target. * tools: Compile time code checking tools. Used at build time, these files are not installed to system target. * Major Changes: * Xacro build-time dependency have been removed. Atlas robot xacros are no longer expanded during the build process. No more [dynamic Gazebo robot model generation](https://bitbucket.org/osrf/drcsim/src/87c1930181b966c67f52aa260c1c918da66dbe5f/ros/atlas_description/robots/CMakeLists.txt?at=default#cl-19) at build time. Xacro is invoked during launch to insert the expanded URDF onto the ROS parameter server under `robot_description`. * Atlas robot models are no longer included in the Gazebo world files. It is now spawned from ROS parameter `robot_description` in [`VRCPlugin::UpdateStates`](https://bitbucket.org/osrf/drcsim/src/ba6af7779c57f3389eae6d21efd97d460ec97384/drcsim_gazebo_ros_plugins/src/VRCPlugin.cpp?at=catkin#cl-1044). Corresponding ROS Parameter `robot_initial_pose` is used to [position the robot](https://bitbucket.org/osrf/drcsim/src/ba6af7779c57f3389eae6d21efd97d460ec97384/drcsim_gazebo_ros_plugins/src/VRCPlugin.cpp?at=catkin#cl-1108) in the world. * `VRCScroingPlugin` is not working due to changes to the robot spawning process. * World files in `vrc_arenas` have been merged into [`drcsim_model_resources/worlds`](https://bitbucket.org/osrf/drcsim/src/ba6af7779c57f3389eae6d21efd97d460ec97384/drcsim_model_resources/worlds?at=catkin). * Launch files in `vrc_arenas` have been merged into [`drcsim_gazebo/launch`](https://bitbucket.org/osrf/drcsim/src/ba6af7779c57f3389eae6d21efd97d460ec97384/drcsim_gazebo/launch?at=catkin). * DRCSim install targets are no longer versioned, with the exception of [`AtlasSimInterface 1.1.1 library binary`](https://bitbucket.org/osrf/drcsim/src/ba6af7779c57f3389eae6d21efd97d460ec97384/drcsim_model_resources/AtlasSimInterface_1.1.1?at=catkin).
 * Switch dependencies from ROS Fuerte to ROS Groovy.
 * [Catkinize ros packages](https://bitbucket.org/osrf/drcsim/issue/143/catkin-ize-ros-packages-in-drcsim-and). New drcsim package structure after catkinization:


 * 1) drcsim 3.0.x

* Runs with Gazebo 1.9.x.


 * 1) drcsim 3.0.0 (2013-09-14)


 * [Add tutorials for hardware / simulation bridging](https://bitbucket.org/osrf/drcsim/pull-request/364/add-tutorials-for-hardware-simulation/diff), [See issue #337](https://bitbucket.org/osrf/drcsim/issue/337/update-atlassiminterface-as-bdi-evolves).
 * Add DRC practice tasks / worlds. E.g. [Pull request #362](https://bitbucket.org/osrf/drcsim/pull-request/362/added-drc-practice-task-3-world).  [Pull request #365](https://bitbucket.org/osrf/drcsim/pull-request/365/first-pass-at-drc-practice-driving-task).
 * Up-to-date Atlas meshes, kinematics and inertia [drcsim pull request #373](https://bitbucket.org/osrf/drcsim/pull-request/373/copy-new-atlas_v3-model-from-catkinized/diff).


 * 1) drcsim 2.7.x

Compatible with Gazebo 1.9.x and SDFormat 1.4.x


 * 1) drcsim 2.7.0 (2013-07-24)
 * Added VRC finals worlds.
 * Updated wrench message per [change in Gazebo](https://bitbucket.org/osrf/drcsim/pull-request/358/use-gazebos-new-wrench-msg-format/diff).


 * 1) drcsim 2.6.x

Compatible with Gazebo 1.8.x.


 * 1) drcsim 2.6.6 (2013-06-13)
 * Fix start up race condition per [issue #326](https://bitbucket.org/osrf/drcsim/issue/326/multisense-camera-images-do-not-always) via [pull request #353](https://bitbucket.org/osrf/drcsim/pull-request/353/check-camera-util-is-initialized-before/diff).


 * 1) drcsim 2.6.5 (2013-06-07)
 * Fix ATLAS head friction
 * Fix race condition in /atlas/set_pose
 * added alternate world start locations


 * 1) drcsim 2.6.4 (2013-06-04)
 * Fix forward-neutral-reverse switch visual
 * Added valgrind scripts
 * Save data from gzlog tests about memory and timing in ROS_TEST_RESULTS
 * The torque limits for both left and right uhz joint should be +/-110Nm
 * Tests to check for cheating
 * Make gate numbers 1-based when printing message in score.log and in /vrc_score


 * 1) drcsim 2.6.3 (2013-05-28)
 * Added more scoring tests
 * Increased Atlas knee joint torque limit to 400Nm
 * Output keyboard teleop instructions to screen
 * Increase upper limit of ankle joint from 0.698 to 0.9 radians
 * Added launch file and worlds for CPU based lasers
 * Modify ContactModelPlugin (used by SandiaHandPlugin's tactile sensors) to use custom contact publishers
 * Increased friction in Sandia hand model
 * Performance improvements
 * Fixed bug in camera ROS subscription logic
 * Fixed reflection errors in collision geometry for left Sandia hand


 * 1) drcsim 2.6.2 (2013-05-23)
 * Use ROS param to specify logdir [pull request #321](https://bitbucket.org/osrf/drcsim/pull-request/321/scoring-testing-allow-rosparam-as-logdir).
 * Quite down output [pull request #314](https://bitbucket.org/osrf/drcsim/pull-request/314/quiet-down-console-output).
 * Make wall time the elapsed time from start of run [pull request #310](https://bitbucket.org/osrf/drcsim/pull-request/310/make-wall_time-the-elapsed-time-from-the).
 * Fix material reference problems [pull request #315](https://bitbucket.org/osrf/drcsim/pull-request/315/fix-material-reference-problem-issue-294).
 * Don't count falls after task completion [pull request #313](https://bitbucket.org/osrf/drcsim/pull-request/313/dont-count-falls-after-task-completion).
 * Drive teleop tutorial [pull request #311](https://bitbucket.org/osrf/drcsim/pull-request/311/add-slider-teleop-for-drc_vehicle-using).
 * Remove Atlas feet auto-disable [pull request #309](https://bitbucket.org/osrf/drcsim/pull-request/309/remove-auto-disable-for-atlas).


 * 1) drcsim 2.6.1 (2013-05-18)
 * [Fix to `mud_atlas` model loading](https://bitbucket.org/osrf/drcsim/pull-request/306/fix-a-texture-and-visual-problem/diff)
 * [Fix to hand camera tests](https://bitbucket.org/osrf/drcsim/pull-request/304/fix-hz-targets-in-sandia-hands-camera/diff)

* Differences in ROS API from AtlasSimInterface 1.0.8 released in drcsim 2.4.x to AtlasSimInterface 1.1.0 in drcsim 2.6.x are listed below: * [`AtlasBehaviorFeedback.msg`](https://bitbucket.org/osrf/drcsim/src/a716c12de7dbc9b63036be5f489c67b25db4278f/ros/atlas_msgs/msg/AtlasBehaviorFeedback.msg?at=drcsim_2.5): `stand_feedback`, `step_feedback`, `walk_feedback` and `manipulate_feedback` have been moved into [`AtlasSimInterfaceState.msg`](https://bitbucket.org/osrf/drcsim/src/364ac70f680b/ros/atlas_msgs/msg/AtlasSimInterfaceState.msg?at=AtlasSimInterface_1.0.9_integration). * [`AtlasBehaviorStandParams.msg`](https://bitbucket.org/osrf/drcsim/src/364ac70f680b/ros/atlas_msgs/msg/AtlasBehaviorStandParams.msg?at=AtlasSimInterface_1.0.9_integration): downgraded to just a placeholder for now, more to come. * [`AtlasBehaviorWalkFeedback.msg`](https://bitbucket.org/osrf/drcsim/src/364ac70f680b/ros/atlas_msgs/msg/AtlasBehaviorWalkFeedback.msg?at=AtlasSimInterface_1.0.9_integration): `step_data` renamed to `step_queue_saturated`. * [`AtlasBehaviorWalkParams.msg`](https://bitbucket.org/osrf/drcsim/src/364ac70f680b/ros/atlas_msgs/msg/AtlasBehaviorWalkParams.msg?at=AtlasSimInterface_1.0.9_integration): `step_data` renamed to `step_queue`. * Supported behaviors: `WALK` and `STEP` will be partially supported. In [`AtlasBehaviorStepData.msg`](https://bitbucket.org/osrf/drcsim/src/364ac70f680b/ros/atlas_msgs/msg/AtlasBehaviorStepData.msg?at=AtlasSimInterface_1.0.9_integration), `z-value`(foot step height) and orientation (ground normal, foot yaw) in [`pose`](https://bitbucket.org/osrf/drcsim/src/364ac70f680b/ros/atlas_msgs/msg/AtlasBehaviorStepData.msg?at=AtlasSimInterface_1.0.9_integration#cl-8), [`swing_height`](https://bitbucket.org/osrf/drcsim/src/364ac70f680b/ros/atlas_msgs/msg/AtlasBehaviorStepData.msg?at=AtlasSimInterface_1.0.9_integration#cl-9) are not used and support will be added in later releases. * New features in AtlasSimInterface 1.1.0 * `ManipulateStand` mode is now supported. * `Step` mode is now partially supported (`swing_height, step height and ground normal are not functional yet). * Camera frame rates adjustable between 1 to 30Hz (previously stated 1 to 60Hz). Per testing on SoftLayer machines, we were unable to generate much faster than 37Hz at 800X800 pixels. * Add Sandia hand tactile sensors. * Sandia hand damping defaults to 1.0, adjustable via service call ([see ticket](https://bitbucket.org/osrf/sandia-hand/issue/3/damping-extremely-large)). * Sandia hand camera frame rates reduced from 60Hz to 30Hz, not adjustable for VRC. * Remove side handrails * Possibly enlarge cabin (e.g., raise roll cage).
 * 1) drcsim 2.6.0 (2013-05-17)
 * Development aids in the [ROS API](http://gazebosim.org/wiki/DRC/UserGuide#ROS_APIs) are disabled by default. Use [environment variables](http://gazebosim.org/wiki/DRC/UserGuide#Environment_variables) to enable them.
 * BDI Dynamic Behavior Library - AtlasSimInterface 1.1.0 ROS API data structure changes expected.
 * MultiSense SL Model:
 * Sandia Hand Model:
 * Mud model
 * Switch hand IMU to use ImuSensors, add noise model to hand IMU outputs, see [ticket](https://bitbucket.org/osrf/sandia-hand/issue/5/add-noise-to-hand-imus).
 * DRC Vehicle updates
 * GPU collision detection for laser scanner.
 * Added event scoring module (see [VRCScore.msg](https://bitbucket.org/osrf/drcsim/src/a0a9799d787df62888fecd85d84dae3bf5b22411/ros/atlas_msgs/msg/VRCScore.msg?at=default)).
 * Updated fire hose model (thinner with ergonomic grip).


 * 1) drcsim 2.5.x


 * 1) drcsim 2.5.2 (2013-04-22):
 * [Fixed race condition on startup with behavior library](https://bitbucket.org/osrf/drcsim/pull-request/224/fix-start-race-condition-if-world-starts)


 * 1) drcsim 2.5.0 (2013-04-19):
 * Set default iterations to 50 and SOR to 1.4
 * Added support for Gazebo state and score logging
 * Added script to generated Qual submissions
 * Added mud plugin
 * Integration of Atlas Teleop tools
 * Atlas starts in Stand Mode
 * Reduce spacing between boxes in `qual_task_1` world. See [ticket](https://bitbucket.org/osrf/drcsim/issue/200/boxes-are-too-far-apart-in)

Compatible with Gazebo 1.6.x
 * 1) drcsim 2.4.x:

* runs with default solver parameters * includes multiple behaviors * exposes new [ROS API for AtlasSimInterface Behavior Library](http://gazebosim.org/wiki/DRC/UserGuide#Boston_Dynamics_AtlasSimInterface_ROS_API_.28DRCSim_2.4_and_Later.29). **Note:** This is a limited functionality release, only partial `STAND_PREP`, `STAND` and `WALK` functionalities are working as of this release. Most of the parameters in [`AtlasSimInterfaceCommand.msg`](https://bitbucket.org/osrf/drcsim/src/14e4dbf73261a4537b8864c9b64f6db31c06b974/ros/atlas_msgs/msg/AtlasSimInterfaceCommand.msg?at=AtlasSimInterface_1.0.9_integration) and [`AtlasSimInterfaceState.msg`](https://bitbucket.org/osrf/drcsim/src/14e4dbf73261/ros/atlas_msgs/msg/AtlasSimInterfaceState.msg?at=AtlasSimInterface_1.0.9_integration) are not yet supported. In particular, not much beyond walking on flat ground (as demonstrated in [this tutorial](http://gazebosim.org/wiki/Tutorials/drcsim/2.4/keyboard_teleop)) is working as of this release. For upcoming features, see [RoadMap](http://gazebosim.org/wiki/DRC/Roadmap).
 * 1) drcsim 2.4.0 (2013-04-15):
 * [Integrated AtlasBehaviorLibrary 1.0.8](https://bitbucket.org/osrf/drcsim/pull-request/193):
 * MultiSense-SL camera horizontal and vertical field of view [switched to 80degX80deg @ 800X800pixels](https://bitbucket.org/osrf/drcsim/pull-request/188)
 * [Updated friction coefficients](https://bitbucket.org/osrf/drcsim/pull-request/199) for Atlas links.
 * [Minor fixes](https://bitbucket.org/osrf/drcsim/pull-request/191) to Atlas effort limits and link inertias.

Compatible with Gazebo 1.6.x
 * 1) drcsim 2.3.x:


 * 1) drcsim 2.3.1 (2013-04-09):
 * Added `stereo_image_proc` for Sandia hand cameras, which had been [missing](https://bitbucket.org/osrf/drcsim/issue/178).
 * [Fixed bug in use of BDI behavior library](https://bitbucket.org/osrf/drcsim/pull-request/183).


 * 1) drcsim 2.3.0 (2013-04-05):
 * Added [Sandia hand cameras](https://bitbucket.org/osrf/sandia-hand/pull-request/19/fix-camera-topics-for-drcsim-without/diff).
 * Added ROSAPI tests to automatically check available ROS topics offered by the Atlas robot.
 * Added ROS topics `/atlas/atlas_state` and `/atlas/atlas_command` for control over UDP. To prevent fragmentation, each of these messages are designed to be <1500 Bytes.
 * Added `gazebo_ros_force` plugin development aide.
 * Added [camera sensor noise](https://bitbucket.org/osrf/drcsim/src/5756680c9e94/ros/multisense_sl_description/urdf/multisense_sl.urdf?at=default#cl-206).
 * Added IMU noise for [torso imu](https://bitbucket.org/osrf/drcsim/src/5756680c9e9454a4a79d48dc344283d61ccf4f54/ros/atlas_description/urdf/atlas.gazebo?at=default#cl-42) and for [head imu](https://bitbucket.org/osrf/drcsim/src/5756680c9e94/ros/multisense_sl_description/urdf/multisense_sl.urdf?at=default#cl-367)
 * Added [LIDAR sensor noise](https://bitbucket.org/osrf/drcsim/src/5756680c9e94/ros/multisense_sl_description/urdf/multisense_sl.urdf?at=default#cl-153).
 * Atlas [inertia tweak](https://bitbucket.org/osrf/drcsim/pull-request/157/inertia-updates) to help solver convergence.
 * Fix atlas force torque sensor to be in the right frame (see [pull request 162](https://bitbucket.org/osrf/drcsim/pull-request/162/switch-force-torque-sensors-to-use-l_hand), which resolved [issue 155](https://bitbucket.org/osrf/drcsim/issue/155/force-torque-sensor-issues)).
 * Updated to use [pub_queue](https://bitbucket.org/osrf/drcsim/pull-request/153/switch-all-modelplugin-and-systemplugin).
 * [kryptonite patch](https://bitbucket.org/osrf/drcsim/pull-request/167/changed-gate-textures).
 * [fix camera_info publication](https://bitbucket.org/osrf/drcsim/issue/163/ros-camera-plugin-not-publishing).
 * [fix imu frame_id](https://bitbucket.org/osrf/drcsim/issue/152/drcsim-22-imu-issues).
 * [changed contact sensor topics to use `geometry_msgs/WrenchStamped`](https://bitbucket.org/osrf/drcsim/issue/153/foot-contact-ros-topic-published-values).
 * Added texture to the fire hose, added foreground objects to VRC task 2.

Compatible with Gazebo 1.5.x
 * 1) drcsim 2.2.x:

* Updated inertia properties * Basic standing / walking demo with BDI's closed source behavior controller. * Physically steerable, drive-able vehicle. * Update install of ros `manifest.xml` and gazebo `model.config` files. * Update head imu location. * Image generation default changed to 1MP (1536 X 816 pixels) @ 30FPS per [documentation](http://www.theroboticschallenge.org/local/documents/MultiSense_SL.pdf). * Improved performance with threaded sensor generation.
 * 1) drcsim 2.2.0 (2013-03-11):
 * Binary packages are 64-bit only. This limitation comes from inclusion of the Atlas behavior library, which is currently available only as a 64-bit shared object.
 * VRC Qualification arenas.
 * Sandia hand updates
 * Preliminary behavior library and accompanying ROS API for higher-level control of Atlas (e.g., balancing, walking).
 * DRC Vehicle simulation updates.
 * MultiSense SL sensor head updates.
 * Release for Ubuntu Quantal with Groovy support.
 * Ability to reset internal integral terms.


 * 1) drcsim 2.1.x

Compatible with Gazebo 1.4.x


 * 1) drcsim 2.1.0 (2013-02-28)


 * Add VRC Qualification worlds and launch files.


 * 1) drcsim 2.0.x

Compatible with Gazebo 1.4.x


 * 1) drcsim 2.0.1 (2013-02-01)


 * Tweak example joint commands publisher ([pr#110](https://bitbucket.org/osrf/drcsim/pull-request/110/include-tcpnodelay-in-jointstates))
 * Improve behavior when entering and exiting the vehicle through magic cheats ([pr#112](https://bitbucket.org/osrf/drcsim/pull-request/112/add-pause-and-unpause-reorganize-order-of))


 * 1) drcsim 2.0.0 (2013-02-01)

* ROS topics updated, name spaced by subsystems, `/atlas/`, `/multisense_sl/`, `/sandia_hands/`. * Split out [sandia hands package](https://bitbucket.org/osrf/sandia-hand). * New [controller joint commmands message](https://bitbucket.org/osrf/osrf-common/raw/default/ros/osrf_msgs/msg/JointCommands.msg).
 * Preliminary ROS API for interfacing with simulation is defined.
 * Models files generated by [xacro](http://ros.org/wiki/xacro) at compile time.
 * Introduce Polaris Ranger EV model.
 * Added simple collision geometries for Atlas, Sandia hand model and Polaris Ranger EV.
 * Turned off usage of [gazebo_ros_controller_manager plugin](https://bitbucket.org/osrf/drcsim/src/45a23d87af80af8bbc467a58382dba903f8572d7/ros/atlas_msgs/gazebo_ros_controller_manager.h?at=default) in default launch files.
 * Updated/rearranged cmake install target directory structures.
 * Switch to using cmake `ExternalProject_Add` for generating ros messages, now we can also generate ROS service messages too.
 * (Developers) Infer `ROS_DISTRO` from environment setting at compile time.
 * Style fixes.
 * Created Sandia hands controller plugin.
 * Switched `r_arm_usy` direction to match hardware.
 * Added ROS topic hz rate tests for drcsim package.
 * Synchronized MultiSense SL cameras for better stereo output.


 * 1) drcsim 1.3.x

Compatible with Gazebo 1.3.x.


 * 1) drcsim 1.3.1 (2013-01-02)
 * No code changes. Released only to force a rebuild of the binary .deb packages against the latest ROS .deb packages.  This rebuild fixes a mysterious segfault that was introduced by a newly released ROS package (not sure which one).


 * 1) drcsim 1.3.0 (2012-12-21)
 * Added VRCPlugin, adding some default **cheat** behaviors for VRC simulation. Also updated DRC vehicle plugin, exposing ROS topics as well as mechanical control of the vehicle.  Please consult the [tutorials](http://gazebosim.org/wiki/Tutorials/drcsim/) and [headers for documentation](https://bitbucket.org/osrf/drcsim/src/6a1c171b7329/plugins/ros/VRCPlugin.hh?at=default).
 * DRC robot is now named Atlas.
 * Updates to MultiSense SL LIDAR parameters ([issue #65](https://bitbucket.org/osrf/drcsim/issue/65/lidar-params-on-sensor-head)).
 * Fix Atlas IMU offset per [issue #67](https://bitbucket.org/osrf/drcsim/issue/67/incorrect-offset-for-imu).

Compatible with Gazebo 1.3.x.
 * 1) drcsim 1.2.x

* The IMU in the sensor head is not yet modeled. * The LED lights in the sensor head are not yet modeled. * The stereo generation is done using [stereo_image_proc](http://ros.org/wiki/stereo_image_proc) at a slower update rate (as opposed to onboard FPGA). * The LIDAR scanner range and angular resolution [needs to be updated](https://bitbucket.org/osrf/drcsim/issue/65/lidar-params-on-sensor-head). * The LIDAR spindle speed is not limited per spec and [needs to be updated](https://bitbucket.org/osrf/drcsim/issue/65/lidar-params-on-sensor-head). * Mass, inertial and dynamics parameters of the head sensor unit are approximate and differs from actual sensor head. * Atlas robot mass now conforms to [initial mass estimations](https://bitbucket.org/osrf/drcsim/src/eb4c25838c45075bdde52c5dad60bf35c4b7d8a2/ros/drc_robot_utils/raw/drc_skeleton.cfg?at=default) without tweaks. * Various basic gain setting updates. Stable open loop standing with joint position controllers.
 * 1) drcsim 1.2.0 (2012-12-17)
 * Initial draft of Atlas Robot head sensor suite made from simplified CAD model of [MultiSense SL by Carnegie Robotics](http://theroboticschallenge.org/documents/MultiSense_SL.pdf). This first draft of the MultiSense SL sensor model contains several assumptions detailed below:
 * Various patch fixes

Compatible with Gazebo 1.2.x.
 * 1) drcsim 1.1.x

* Using [joint trajectory controller](http://ros.org/wiki/robot_mechanism_controllers/JointTrajectoryActionController) for the default robot launch file. * Added several different controller configurations in [drc robot model directory](https://bitbucket.org/osrf/drcsim/src/d8a165a341378e3869aa3976189fce09d12bbc48/models/drc_robot/ros?at=default) * Controllers managed (loaded, unloaded, started, stopped, commanded) in the usual way, via ROS topics. * Balancing and walking should be possible, though perhaps not convenient, to implement. * ubx upper limit * usy joint axis fix * mwx offset fix
 * 1) drcsim 1.1.0 (2012-11-20)
 * Support running a subset of the ROS robot_mechanism_controllers on the entire DRC robot model (including legs).
 * Initial model of hose and coupling for use in the hose connection task.
 * ROS topic `reset_world` renamed to `reset_models` [issue #32](https://bitbucket.org/osrf/drcsim/issue/32/reset_world-ros-service-should-be-renamed)
 * DRCRobotPlugin modes are [nominal, no_gravity, pinned, feet].
 * gazebo includes: `physics.h` --> `physics.hh`.
 * Various DRC Robot model fixes.

Compatible with Gazebo 1.2.x.
 * 1) drcsim 1.0.x


 * 1) drcsim 1.0.3 (2012-11-07)
 * Enabling access to online model database Details.
 * Made a variety of fixes to the DRC robot model, including meshes and link names. Added the ability to unpin the hip from the world. Details.


 * 1) drcsim 1.0.2
 * Updated destructor to match changes in Gazebo. Details


 * 1) drcsim 1.0.1
 * Removed warning message. Details


 * 1) drcsim 1.0.0
 * First release. This package contains models, worlds, plugins, and ROS code (plugins, launch files) to support initial development and testing in simulation for the DRC. This version requires gazebo 1.2.x.