Add support for capsule geometry type #238

saikishor · 2026-01-27T22:48:49Z

Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

scpeters

do you mind adding a schema test for the capsule feature similar to https://github.com/ros/urdfdom/blob/rolling/urdf_parser/test/urdf_schema_quaternion_test.cpp?

Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

saikishor · 2026-01-30T08:48:00Z

do you mind adding a schema test for the capsule feature similar to https://github.com/ros/urdfdom/blob/rolling/urdf_parser/test/urdf_schema_quaternion_test.cpp?

Thank you for pointing out. I completely missed it 🙈

saikishor · 2026-01-30T08:59:26Z

While adding tests on ros/urdf_parser_py#96
I realized that the versioning part is not done there. I just added it and made sure that capsules are only allowed on 1.1

scpeters · 2026-01-30T19:53:35Z

urdf_parser/src/link.cpp

+    return false;
+  }
+
+  if (!std::isfinite(c.length) || !std::isfinite(c.radius) || c.length < 0 || c.radius < 0)


this is a good logic check, but none of the other geometry parsing functions have something like it

how do you feel about reverting this logic check from URDF 1.1 and open a separate pull request that will target rolling and add these logic checks to this and the other geometry parsing functions?

As this is a new entry, I think it makes sense to have it integrated with the checks already. I personally would keep it.

For the rest of the geometry types, yes I already have a plan to do that for other types and rest of the components in the URDF

What's your opinion on this?

I think we shouldn't backport the additional logic checks for existing geometry types. So we can eventually merge them into rolling, but I wouldn't include those checks in URDF 1.1

A case could be made that for consistency, the Capsule code for URDF 1.1 that will be backported should also not include the checks. It's subjective, so I won't demand it

Understood. I can remove them. I'll open a different PR adding such logic to all the geometry cases targeting rolling

@scpeters Done

I've the other checks done here: https://github.com/saikishor/urdfdom/tree/extend/invalid_data/checks

Once this is merged, I can open the new one

Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

scpeters · 2026-02-03T17:08:08Z

urdfdom_headers 2.1.0 has been released (ros/rosdistro#49659), so I have updated the find_package call in 9fd2bde to require that version

saikishor · 2026-02-03T17:30:11Z

urdfdom_headers 2.1.0 has been released (ros/rosdistro#49659), so I have updated the find_package call in 9fd2bde to require that version

Perfect. Thanks

saikishor · 2026-02-03T17:30:52Z

Seems like CI is failing as it is taking binaries from stable branch

saikishor · 2026-02-04T07:12:07Z

Thanks for taking care of CI

scpeters · 2026-02-04T07:56:44Z

well I've tried, but I'm not sure what is going wrong. I'm going to close and reopen once in order to restart CI, but if that doesn't work I'll run tests locally

saikishor · 2026-02-04T08:26:40Z

I agree. it is weird. For me it works locally with recent changes.

Details

Starting >>> urdfdom 
UpdateCTestConfiguration  from :/home/user/urdf_ws/build/urdfdom/DartConfiguration.tcl
Parse Config file:/home/user/urdf_ws/build/urdfdom/DartConfiguration.tcl
   Site: skk-laptop
   Build name: Linux-c++
Create new tag: 20260204-0824 - Experimental
UpdateCTestConfiguration  from :/home/user/urdf_ws/build/urdfdom/DartConfiguration.tcl
Parse Config file:/home/user/urdf_ws/build/urdfdom/DartConfiguration.tcl
Test project /home/user/urdf_ws/build/urdfdom
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 1
      Start  1: urdf_double_convert

1: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_double_convert "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_double_convert.xml"
1: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
1: Environment variables: 
1:  LC_ALL=C
1: Test timeout computed to be: 240
1: Running main() from /home/user/urdf_ws/src/urdfdom/urdf_parser/test/gtest/src/gtest_main.cc
1: [==========] Running 2 tests from 1 test suite.
1: [----------] Global test environment set-up.
1: [----------] 2 tests from URDF_DOUBLE_CONVERT
1: [ RUN      ] URDF_DOUBLE_CONVERT.test_successful_conversion
1: [       OK ] URDF_DOUBLE_CONVERT.test_successful_conversion (0 ms)
1: [ RUN      ] URDF_DOUBLE_CONVERT.test_failed_conversion
1: [       OK ] URDF_DOUBLE_CONVERT.test_failed_conversion (0 ms)
1: [----------] 2 tests from URDF_DOUBLE_CONVERT (0 ms total)
1: 
1: [----------] Global test environment tear-down
1: [==========] 2 tests from 1 test suite ran. (0 ms total)
1: [  PASSED  ] 2 tests.
 1/10 Test  #1: urdf_double_convert ........................   Passed    0.00 sec
test 2
      Start  2: urdf_double_convert_locale

2: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_double_convert "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_double_convert_locale.xml"
2: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
2: Environment variables: 
2:  LC_ALL=nl_NL.UTF-8
2: Test timeout computed to be: 240
2: Running main() from /home/user/urdf_ws/src/urdfdom/urdf_parser/test/gtest/src/gtest_main.cc
2: [==========] Running 2 tests from 1 test suite.
2: [----------] Global test environment set-up.
2: [----------] 2 tests from URDF_DOUBLE_CONVERT
2: [ RUN      ] URDF_DOUBLE_CONVERT.test_successful_conversion
2: [       OK ] URDF_DOUBLE_CONVERT.test_successful_conversion (0 ms)
2: [ RUN      ] URDF_DOUBLE_CONVERT.test_failed_conversion
2: [       OK ] URDF_DOUBLE_CONVERT.test_failed_conversion (0 ms)
2: [----------] 2 tests from URDF_DOUBLE_CONVERT (0 ms total)
2: 
2: [----------] Global test environment tear-down
2: [==========] 2 tests from 1 test suite ran. (0 ms total)
2: [  PASSED  ] 2 tests.
 2/10 Test  #2: urdf_double_convert_locale .................   Passed    0.00 sec
test 3
      Start  3: urdf_schema_capsule_geometry_test

3: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_schema_capsule_geometry_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_schema_capsule_geometry_test.xml"
3: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
3: Environment variables: 
3:  LC_ALL=C
3: Test timeout computed to be: 240
3: [==========] Running 7 tests from 1 test suite.
3: [----------] Global test environment set-up.
3: [----------] 7 tests from URDF_UNIT_TEST
3: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_version_1_1
3: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_version_1_1 (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_ignored_version_1_0
3: Warning: Ignoring capsule attribute minimum required version URDF version 1.1 since specified version is 1.0.
3:          at line 297 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: Error:   Could not parse visual element for Link [link1]
3:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_ignored_version_1_0 (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_zero_values
3: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_zero_values (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_missing_radius_fails
3: Error:   Capsule shape must have both length and radius attributes
3:          at line 227 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: Error:   Could not parse visual element for Link [link1]
3:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_missing_radius_fails (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_missing_length_fails
3: Error:   Capsule shape must have both length and radius attributes
3:          at line 227 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: Error:   Could not parse visual element for Link [link1]
3:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_missing_length_fails (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_inf_value_fails
3: Error:   radius [inf] is not a valid float
3:          at line 245 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: Error:   Could not parse visual element for Link [link1]
3:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
3: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_inf_value_fails (0 ms)
3: [ RUN      ] URDF_UNIT_TEST.parse_multiple_capsules_in_same_link
3: [       OK ] URDF_UNIT_TEST.parse_multiple_capsules_in_same_link (0 ms)
3: [----------] 7 tests from URDF_UNIT_TEST (0 ms total)
3: 
3: [----------] Global test environment tear-down
3: [==========] 7 tests from 1 test suite ran. (0 ms total)
3: [  PASSED  ] 7 tests.
 3/10 Test  #3: urdf_schema_capsule_geometry_test ..........   Passed    0.00 sec
test 4
      Start  4: urdf_schema_capsule_geometry_test_locale

4: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_schema_capsule_geometry_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_schema_capsule_geometry_test_locale.xml"
4: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
4: Environment variables: 
4:  LC_ALL=nl_NL.UTF-8
4: Test timeout computed to be: 240
4: [==========] Running 7 tests from 1 test suite.
4: [----------] Global test environment set-up.
4: [----------] 7 tests from URDF_UNIT_TEST
4: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_version_1_1
4: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_version_1_1 (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_ignored_version_1_0
4: Warning: Ignoring capsule attribute minimum required version URDF version 1.1 since specified version is 1.0.
4:          at line 297 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: Error:   Could not parse visual element for Link [link1]
4:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_ignored_version_1_0 (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_zero_values
4: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_zero_values (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_missing_radius_fails
4: Error:   Capsule shape must have both length and radius attributes
4:          at line 227 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: Error:   Could not parse visual element for Link [link1]
4:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_missing_radius_fails (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_missing_length_fails
4: Error:   Capsule shape must have both length and radius attributes
4:          at line 227 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: Error:   Could not parse visual element for Link [link1]
4:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_missing_length_fails (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_capsule_geometry_inf_value_fails
4: Error:   radius [inf] is not a valid float
4:          at line 245 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: Error:   Could not parse visual element for Link [link1]
4:          at line 504 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/link.cpp
4: [       OK ] URDF_UNIT_TEST.parse_capsule_geometry_inf_value_fails (0 ms)
4: [ RUN      ] URDF_UNIT_TEST.parse_multiple_capsules_in_same_link
4: [       OK ] URDF_UNIT_TEST.parse_multiple_capsules_in_same_link (0 ms)
4: [----------] 7 tests from URDF_UNIT_TEST (0 ms total)
4: 
4: [----------] Global test environment tear-down
4: [==========] 7 tests from 1 test suite ran. (0 ms total)
4: [  PASSED  ] 7 tests.
 4/10 Test  #4: urdf_schema_capsule_geometry_test_locale ...   Passed    0.00 sec
test 5
      Start  5: urdf_schema_quaternion_test

5: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_schema_quaternion_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_schema_quaternion_test.xml"
5: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
5: Environment variables: 
5:  LC_ALL=C
5: Test timeout computed to be: 240
5: [==========] Running 5 tests from 1 test suite.
5: [----------] Global test environment set-up.
5: [----------] 5 tests from URDF_UNIT_TEST
5: [ RUN      ] URDF_UNIT_TEST.parse_rot_rpy_version_1_0
5: [       OK ] URDF_UNIT_TEST.parse_rot_rpy_version_1_0 (0 ms)
5: [ RUN      ] URDF_UNIT_TEST.parse_rot_quat_ignored_version_1_0
5: Warning: Ignoring quat_xyzw attribute requiring URDF version 1.1 since specified version is 1.0.
5:          at line 113 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/pose.cpp
5: [       OK ] URDF_UNIT_TEST.parse_rot_quat_ignored_version_1_0 (0 ms)
5: [ RUN      ] URDF_UNIT_TEST.parse_rot_quat_version_1_1
5: [       OK ] URDF_UNIT_TEST.parse_rot_quat_version_1_1 (0 ms)
5: [ RUN      ] URDF_UNIT_TEST.parse_rot_both_quat_ignored_version_1_0
5: Warning: Ignoring quat_xyzw attribute requiring URDF version 1.1 since specified version is 1.0.
5:          at line 113 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/pose.cpp
5: [       OK ] URDF_UNIT_TEST.parse_rot_both_quat_ignored_version_1_0 (0 ms)
5: [ RUN      ] URDF_UNIT_TEST.parse_rot_both_error_version_1_1
5: Error:   Both rpy and quat_xyzw orientations are defined. Use either one or the other.
5:          at line 116 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/pose.cpp
5: Error:   Malformed parent origin element for joint [j1]
5:          at line 363 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/joint.cpp
5: Error:   joint xml is not initialized correctly
5:          at line 243 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
5: [       OK ] URDF_UNIT_TEST.parse_rot_both_error_version_1_1 (0 ms)
5: [----------] 5 tests from URDF_UNIT_TEST (0 ms total)
5: 
5: [----------] Global test environment tear-down
5: [==========] 5 tests from 1 test suite ran. (0 ms total)
5: [  PASSED  ] 5 tests.
 5/10 Test  #5: urdf_schema_quaternion_test ................   Passed    0.01 sec
test 6
      Start  6: urdf_schema_quaternion_test_locale

6: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_schema_quaternion_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_schema_quaternion_test_locale.xml"
6: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
6: Environment variables: 
6:  LC_ALL=nl_NL.UTF-8
6: Test timeout computed to be: 240
6: [==========] Running 5 tests from 1 test suite.
6: [----------] Global test environment set-up.
6: [----------] 5 tests from URDF_UNIT_TEST
6: [ RUN      ] URDF_UNIT_TEST.parse_rot_rpy_version_1_0
6: [       OK ] URDF_UNIT_TEST.parse_rot_rpy_version_1_0 (0 ms)
6: [ RUN      ] URDF_UNIT_TEST.parse_rot_quat_ignored_version_1_0
6: Warning: Ignoring quat_xyzw attribute requiring URDF version 1.1 since specified version is 1.0.
6:          at line 113 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/pose.cpp
6: [       OK ] URDF_UNIT_TEST.parse_rot_quat_ignored_version_1_0 (0 ms)
6: [ RUN      ] URDF_UNIT_TEST.parse_rot_quat_version_1_1
6: [       OK ] URDF_UNIT_TEST.parse_rot_quat_version_1_1 (0 ms)
6: [ RUN      ] URDF_UNIT_TEST.parse_rot_both_quat_ignored_version_1_0
6: Warning: Ignoring quat_xyzw attribute requiring URDF version 1.1 since specified version is 1.0.
6:          at line 113 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/pose.cpp
6: [       OK ] URDF_UNIT_TEST.parse_rot_both_quat_ignored_version_1_0 (0 ms)
6: [ RUN      ] URDF_UNIT_TEST.parse_rot_both_error_version_1_1
6: Error:   Both rpy and quat_xyzw orientations are defined. Use either one or the other.
6:          at line 116 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/pose.cpp
6: Error:   Malformed parent origin element for joint [j1]
6:          at line 363 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/joint.cpp
6: Error:   joint xml is not initialized correctly
6:          at line 243 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
6: [       OK ] URDF_UNIT_TEST.parse_rot_both_error_version_1_1 (0 ms)
6: [----------] 5 tests from URDF_UNIT_TEST (0 ms total)
6: 
6: [----------] Global test environment tear-down
6: [==========] 5 tests from 1 test suite ran. (0 ms total)
6: [  PASSED  ] 5 tests.
 6/10 Test  #6: urdf_schema_quaternion_test_locale .........   Passed    0.00 sec
test 7
      Start  7: urdf_unit_test

7: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_unit_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_unit_test.xml"
7: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
7: Environment variables: 
7:  LC_ALL=C
7: Test timeout computed to be: 240
7: [==========] Running 10 tests from 1 test suite.
7: [----------] Global test environment set-up.
7: [----------] 10 tests from URDF_UNIT_TEST
7: [ RUN      ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent
7: 
7: before  x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
7: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
7: ok      1
7: 
7: before  x: 0.5 y: -0.5 z: 0.500000022 w: 0.499999978  roll: 0 pitch: -1.57079633 yaw: 1.57079633
7: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
7: ok      1
7: [       OK ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent (1 ms)
7: [ RUN      ] URDF_UNIT_TEST.test_vector3_simple
7: [       OK ] URDF_UNIT_TEST.test_vector3_simple (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.test_vector3_float
7: [       OK ] URDF_UNIT_TEST.test_vector3_float (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.test_vector3_bad_string
7: [       OK ] URDF_UNIT_TEST.test_vector3_bad_string (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.test_vector3_invalid_number
7: [       OK ] URDF_UNIT_TEST.test_vector3_invalid_number (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.test_vector3_not_enough_numbers
7: [       OK ] URDF_UNIT_TEST.test_vector3_not_enough_numbers (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.test_vector3_too_many_numbers
7: [       OK ] URDF_UNIT_TEST.test_vector3_too_many_numbers (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.parse_joint_doubles
7: [       OK ] URDF_UNIT_TEST.parse_joint_doubles (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.parse_link_doubles
7: [       OK ] URDF_UNIT_TEST.parse_link_doubles (0 ms)
7: [ RUN      ] URDF_UNIT_TEST.parse_color_doubles
7: [       OK ] URDF_UNIT_TEST.parse_color_doubles (0 ms)
7: [----------] 10 tests from URDF_UNIT_TEST (2 ms total)
7: 
7: [----------] Global test environment tear-down
7: [==========] 10 tests from 1 test suite ran. (2 ms total)
7: [  PASSED  ] 10 tests.
 7/10 Test  #7: urdf_unit_test .............................   Passed    0.01 sec
test 8
      Start  8: urdf_unit_test_locale

8: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_unit_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_unit_test_locale.xml"
8: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
8: Environment variables: 
8:  LC_ALL=nl_NL.UTF-8
8: Test timeout computed to be: 240
8: [==========] Running 10 tests from 1 test suite.
8: [----------] Global test environment set-up.
8: [----------] 10 tests from URDF_UNIT_TEST
8: [ RUN      ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent
8: 
8: before  x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
8: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
8: ok      1
8: 
8: before  x: 0.5 y: -0.5 z: 0.500000022 w: 0.499999978  roll: 0 pitch: -1.57079633 yaw: 1.57079633
8: after   x: 0.5 y: -0.5 z: 0.5 w: 0.5  roll: 0 pitch: -1.57079633 yaw: 1.57079633
8: ok      1
8: [       OK ] URDF_UNIT_TEST.test_rotation_get_set_rpy_idempotent (1 ms)
8: [ RUN      ] URDF_UNIT_TEST.test_vector3_simple
8: [       OK ] URDF_UNIT_TEST.test_vector3_simple (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.test_vector3_float
8: [       OK ] URDF_UNIT_TEST.test_vector3_float (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.test_vector3_bad_string
8: [       OK ] URDF_UNIT_TEST.test_vector3_bad_string (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.test_vector3_invalid_number
8: [       OK ] URDF_UNIT_TEST.test_vector3_invalid_number (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.test_vector3_not_enough_numbers
8: [       OK ] URDF_UNIT_TEST.test_vector3_not_enough_numbers (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.test_vector3_too_many_numbers
8: [       OK ] URDF_UNIT_TEST.test_vector3_too_many_numbers (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.parse_joint_doubles
8: [       OK ] URDF_UNIT_TEST.parse_joint_doubles (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.parse_link_doubles
8: [       OK ] URDF_UNIT_TEST.parse_link_doubles (0 ms)
8: [ RUN      ] URDF_UNIT_TEST.parse_color_doubles
8: [       OK ] URDF_UNIT_TEST.parse_color_doubles (0 ms)
8: [----------] 10 tests from URDF_UNIT_TEST (2 ms total)
8: 
8: [----------] Global test environment tear-down
8: [==========] 10 tests from 1 test suite ran. (2 ms total)
8: [  PASSED  ] 10 tests.
 8/10 Test  #8: urdf_unit_test_locale ......................   Passed    0.01 sec
test 9
      Start  9: urdf_version_test

9: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_version_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_version_test.xml"
9: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
9: Environment variables: 
9:  LC_ALL=C
9: Test timeout computed to be: 240
9: Running main() from /home/user/urdf_ws/src/urdfdom/urdf_parser/test/gtest/src/gtest_main.cc
9: [==========] Running 18 tests from 2 test suites.
9: [----------] Global test environment set-up.
9: [----------] 5 tests from URDF_VERSION
9: [ RUN      ] URDF_VERSION.test_version_wrong_type
9: Error:   The version attribute should be in the form 'x.y'
9:          at line 143 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
9: [       OK ] URDF_VERSION.test_version_wrong_type (0 ms)
9: [ RUN      ] URDF_VERSION.test_version_unsupported_version
9: Error:   Invalid 'version' specified; versions 1.0 to 1.1 are currently supported
9:          at line 143 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
9: [       OK ] URDF_VERSION.test_version_unsupported_version (0 ms)
9: [ RUN      ] URDF_VERSION.test_version_not_specified
9: [       OK ] URDF_VERSION.test_version_not_specified (0 ms)
9: [ RUN      ] URDF_VERSION.test_version_one_int
9: Error:   The version attribute should be in the form 'x.y'
9:          at line 143 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
9: [       OK ] URDF_VERSION.test_version_one_int (0 ms)
9: [ RUN      ] URDF_VERSION.test_version_one_float
9: [       OK ] URDF_VERSION.test_version_one_float (0 ms)
9: [----------] 5 tests from URDF_VERSION (0 ms total)
9: 
9: [----------] 13 tests from URDF_VERSION_CLASS
9: [ RUN      ] URDF_VERSION_CLASS.test_null_ptr
9: [       OK ] URDF_VERSION_CLASS.test_null_ptr (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.numeric_constructor
9: [       OK ] URDF_VERSION_CLASS.numeric_constructor (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.comparison
9: [       OK ] URDF_VERSION_CLASS.comparison (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_correct_string
9: [       OK ] URDF_VERSION_CLASS.test_correct_string (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_too_many_dots
9: [       OK ] URDF_VERSION_CLASS.test_too_many_dots (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_not_enough_numbers
9: [       OK ] URDF_VERSION_CLASS.test_not_enough_numbers (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_no_major_number
9: [       OK ] URDF_VERSION_CLASS.test_no_major_number (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_negative_major_number
9: [       OK ] URDF_VERSION_CLASS.test_negative_major_number (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_negative_minor_number
9: [       OK ] URDF_VERSION_CLASS.test_negative_minor_number (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_no_numbers
9: [       OK ] URDF_VERSION_CLASS.test_no_numbers (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_dots_no_numbers
9: [       OK ] URDF_VERSION_CLASS.test_dots_no_numbers (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_dots_one_number
9: [       OK ] URDF_VERSION_CLASS.test_dots_one_number (0 ms)
9: [ RUN      ] URDF_VERSION_CLASS.test_trailing_junk
9: [       OK ] URDF_VERSION_CLASS.test_trailing_junk (0 ms)
9: [----------] 13 tests from URDF_VERSION_CLASS (0 ms total)
9: 
9: [----------] Global test environment tear-down
9: [==========] 18 tests from 2 test suites ran. (0 ms total)
9: [  PASSED  ] 18 tests.
 9/10 Test  #9: urdf_version_test ..........................   Passed    0.01 sec
test 10
      Start 10: urdf_version_test_locale

10: Test command: /home/user/urdf_ws/build/urdfdom/bin/urdf_version_test "--gtest_output=xml:/home/user/urdf_ws/build/urdfdom/test_results/urdf_version_test_locale.xml"
10: Working Directory: /home/user/urdf_ws/build/urdfdom/urdf_parser/test
10: Environment variables: 
10:  LC_ALL=nl_NL.UTF-8
10: Test timeout computed to be: 240
10: Running main() from /home/user/urdf_ws/src/urdfdom/urdf_parser/test/gtest/src/gtest_main.cc
10: [==========] Running 18 tests from 2 test suites.
10: [----------] Global test environment set-up.
10: [----------] 5 tests from URDF_VERSION
10: [ RUN      ] URDF_VERSION.test_version_wrong_type
10: Error:   The version attribute should be in the form 'x.y'
10:          at line 143 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
10: [       OK ] URDF_VERSION.test_version_wrong_type (0 ms)
10: [ RUN      ] URDF_VERSION.test_version_unsupported_version
10: Error:   Invalid 'version' specified; versions 1.0 to 1.1 are currently supported
10:          at line 143 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
10: [       OK ] URDF_VERSION.test_version_unsupported_version (0 ms)
10: [ RUN      ] URDF_VERSION.test_version_not_specified
10: [       OK ] URDF_VERSION.test_version_not_specified (0 ms)
10: [ RUN      ] URDF_VERSION.test_version_one_int
10: Error:   The version attribute should be in the form 'x.y'
10:          at line 143 in /home/user/urdf_ws/src/urdfdom/urdf_parser/src/model.cpp
10: [       OK ] URDF_VERSION.test_version_one_int (0 ms)
10: [ RUN      ] URDF_VERSION.test_version_one_float
10: [       OK ] URDF_VERSION.test_version_one_float (0 ms)
10: [----------] 5 tests from URDF_VERSION (0 ms total)
10: 
10: [----------] 13 tests from URDF_VERSION_CLASS
10: [ RUN      ] URDF_VERSION_CLASS.test_null_ptr
10: [       OK ] URDF_VERSION_CLASS.test_null_ptr (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.numeric_constructor
10: [       OK ] URDF_VERSION_CLASS.numeric_constructor (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.comparison
10: [       OK ] URDF_VERSION_CLASS.comparison (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_correct_string
10: [       OK ] URDF_VERSION_CLASS.test_correct_string (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_too_many_dots
10: [       OK ] URDF_VERSION_CLASS.test_too_many_dots (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_not_enough_numbers
10: [       OK ] URDF_VERSION_CLASS.test_not_enough_numbers (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_no_major_number
10: [       OK ] URDF_VERSION_CLASS.test_no_major_number (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_negative_major_number
10: [       OK ] URDF_VERSION_CLASS.test_negative_major_number (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_negative_minor_number
10: [       OK ] URDF_VERSION_CLASS.test_negative_minor_number (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_no_numbers
10: [       OK ] URDF_VERSION_CLASS.test_no_numbers (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_dots_no_numbers
10: [       OK ] URDF_VERSION_CLASS.test_dots_no_numbers (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_dots_one_number
10: [       OK ] URDF_VERSION_CLASS.test_dots_one_number (0 ms)
10: [ RUN      ] URDF_VERSION_CLASS.test_trailing_junk
10: [       OK ] URDF_VERSION_CLASS.test_trailing_junk (0 ms)
10: [----------] 13 tests from URDF_VERSION_CLASS (0 ms total)
10: 
10: [----------] Global test environment tear-down
10: [==========] 18 tests from 2 test suites ran. (0 ms total)
10: [  PASSED  ] 18 tests.
10/10 Test #10: urdf_version_test_locale ...................   Passed    0.01 sec

100% tests passed, 0 tests failed out of 10

Total Test time (real) =   0.05 sec
Finished <<< urdfdom [0.09s]

Summary: 1 package finished [0.20s]

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2026-02-05T01:00:59Z

the Rpr job is fixed now, and I wasn't able to fix the ROS 2 CI github workflow, so I'll redact the change in 65924e6 and open a separate PR for that

saikishor · 2026-02-05T10:06:42Z

Thank you so much

saikishor mentioned this pull request Jan 27, 2026

Add support for capsule geometry type ros/urdf_parser_py#96

Open

Add support for capsule geometry type

4c8716d

Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

saikishor force-pushed the add/geometry/capsule branch from b151e11 to 4c8716d Compare January 28, 2026 09:16

Add documentation about versioning

7f97ab8

Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

scpeters reviewed Jan 30, 2026

View reviewed changes

scpeters mentioned this pull request Jan 30, 2026

Schema versioning strategy #230

Open

Add tests for the capsule geometry

0a0d9a4

Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

scpeters reviewed Jan 30, 2026

View reviewed changes

remove invalid number checks for consistency

be9fae5

Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

scpeters closed this Feb 4, 2026

scpeters reopened this Feb 4, 2026

Require version 2.1.0 of urdfdom_headers

6823576

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters force-pushed the add/geometry/capsule branch from 003b5b3 to 65924e6 Compare February 4, 2026 21:58

scpeters force-pushed the add/geometry/capsule branch from 65924e6 to 6823576 Compare February 5, 2026 01:02

scpeters approved these changes Feb 5, 2026

View reviewed changes

scpeters merged commit e6c9575 into ros:rolling Feb 5, 2026
3 of 6 checks passed

saikishor deleted the add/geometry/capsule branch February 5, 2026 10:06

saikishor mentioned this pull request Feb 5, 2026

Add invalid data checks to the Geometry data #242

Open

Add support for capsule geometry type #238

Add support for capsule geometry type #238

Conversation

saikishor commented Jan 27, 2026

Uh oh!

scpeters left a comment

Choose a reason for hiding this comment

Uh oh!

saikishor commented Jan 30, 2026

Uh oh!

saikishor commented Jan 30, 2026

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

scpeters commented Feb 3, 2026

Uh oh!

saikishor commented Feb 3, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

saikishor commented Feb 3, 2026

Uh oh!

saikishor commented Feb 4, 2026

Uh oh!

scpeters commented Feb 4, 2026

Uh oh!

saikishor commented Feb 4, 2026

Uh oh!

scpeters commented Feb 5, 2026

Uh oh!

Uh oh!

saikishor commented Feb 5, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

saikishor commented Feb 3, 2026 •

edited

Loading