From e10dd37cfb018abe82b4b2a63cdc7b3ab5fa1523 Mon Sep 17 00:00:00 2001
From: Brian Gerkey <gerkey@openrobotics.org>
Date: Thu, 17 May 2018 17:10:09 -0700
Subject: [PATCH 1/4] Allow name attribute in visual tag

---
 src/urdf_parser_py/urdf.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/urdf_parser_py/urdf.py b/src/urdf_parser_py/urdf.py
index 2b08437..da882dd 100644
--- a/src/urdf_parser_py/urdf.py
+++ b/src/urdf_parser_py/urdf.py
@@ -194,13 +194,15 @@ def check_valid(self):
 
 
 class Visual(xmlr.Object):
-    def __init__(self, geometry=None, material=None, origin=None):
+    def __init__(self, geometry=None, material=None, name=None, origin=None):
         self.geometry = geometry
         self.material = material
+        self.name = name
         self.origin = origin
 
 
 xmlr.reflect(Visual, tag='visual', params=[
+    xmlr.Attribute('name', str, False),
     origin_element,
     xmlr.Element('geometry', 'geometric'),
     xmlr.Element('material', LinkMaterial, False)

From 624bc73c851e554a32302bd0cfa5496fe93a7489 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Mon, 9 Mar 2020 14:54:38 -0700
Subject: [PATCH 2/4] Add name kwarg at end

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
---
 src/urdf_parser_py/urdf.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/urdf_parser_py/urdf.py b/src/urdf_parser_py/urdf.py
index da882dd..829e2e3 100644
--- a/src/urdf_parser_py/urdf.py
+++ b/src/urdf_parser_py/urdf.py
@@ -194,7 +194,7 @@ def check_valid(self):
 
 
 class Visual(xmlr.Object):
-    def __init__(self, geometry=None, material=None, name=None, origin=None):
+    def __init__(self, geometry=None, material=None, origin=None, name=None):
         self.geometry = geometry
         self.material = material
         self.name = name

From a18d9af1b731e9e1ad60075ec8ae06c50a05240b Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Mon, 9 Mar 2020 14:59:11 -0700
Subject: [PATCH 3/4] Add test for <visual name="...">

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
---
 test/test_urdf.py | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/test/test_urdf.py b/test/test_urdf.py
index 8dce198..06ec920 100644
--- a/test/test_urdf.py
+++ b/test/test_urdf.py
@@ -164,6 +164,20 @@ def test_link_multiple_visual(self):
 </robot>'''
         self.parse_and_compare(xml)
 
+    def test_visual_with_name(self):
+        xml = '''<?xml version="1.0"?>
+<robot name="test">
+  <link name="link">
+    <visual name="alice">
+      <geometry>
+        <cylinder length="1" radius="1"/>
+      </geometry>
+      <material name="mat"/>
+    </visual>
+  </link>
+</robot>'''
+        self.parse_and_compare(xml)
+
     def test_link_multiple_collision(self):
         xml = '''<?xml version="1.0"?>
 <robot name="test">

From 370b7822149969d57369f6f6f65a31c67be29713 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Mon, 9 Mar 2020 15:23:48 -0700
Subject: [PATCH 4/4] Add version attribute to test

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
---
 test/test_urdf.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/test_urdf.py b/test/test_urdf.py
index 06ec920..4112541 100644
--- a/test/test_urdf.py
+++ b/test/test_urdf.py
@@ -166,7 +166,7 @@ def test_link_multiple_visual(self):
 
     def test_visual_with_name(self):
         xml = '''<?xml version="1.0"?>
-<robot name="test">
+<robot name="test" version="1.0">
   <link name="link">
     <visual name="alice">
       <geometry>