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Upgrade Drake SDFormat 1.8 (for Model Composition) #14295

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EricCousineau-TRI opened this issue Nov 5, 2020 · 1 comment · Fixed by #15140
Closed
5 tasks done

Upgrade Drake SDFormat 1.8 (for Model Composition) #14295

EricCousineau-TRI opened this issue Nov 5, 2020 · 1 comment · Fixed by #15140
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component: geometry general Geometry infrastructure or topics that defy categorization into other geometry components component: multibody plant MultibodyPlant and supporting code unused team: manipulation

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EricCousineau-TRI commented Nov 5, 2020 •
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Proposal: SDFormat: Model Composition
Towards: gazebosim/sdformat#278

Assigned to me, but will reassign to @azeey once permissions are setup

Suggested PR train:
@EricCousineau-TRI EricCousineau-TRI added unused team: manipulation component: multibody plant MultibodyPlant and supporting code component: geometry general Geometry infrastructure or topics that defy categorization into other geometry components labels Nov 5, 2020
@EricCousineau-TRI EricCousineau-TRI self-assigned this Nov 5, 2020
@EricCousineau-TRI EricCousineau-TRI mentioned this issue Nov 5, 2020
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EricCousineau-TRI commented Nov 5, 2020 •
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Example PRs to examine:

Files:

@EricCousineau-TRI EricCousineau-TRI mentioned this issue Dec 3, 2020
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@EricCousineau-TRI EricCousineau-TRI changed the title Should prototype SDFormat 1.8 in Drake Upgrad Drake SDFormat 1.8 (for Model Composition) May 10, 2021
@EricCousineau-TRI EricCousineau-TRI changed the title Upgrad Drake SDFormat 1.8 (for Model Composition) Upgrade Drake SDFormat 1.8 (for Model Composition) May 10, 2021
@azeey azeey mentioned this issue May 13, 2021
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azeey added a commit to azeey/drake that referenced this issue May 20, 2021
@azeey
parsing: Add support for SDFormat 1.8 model composition
67f9fd3 
Changes in behavior:
* Models nested via the `<include>` tag are no longer flattened, which
  means each included model will have its own model instance.
* `drake::multibody::Parser::AddAllModelsFromFile` now returns all added
  models including nested models

Note: This does not use a custom parser for URDFs via libsdformat's
Interface API, and thus may incur unexpected behavior when including
URDF files from SDFormat pending the full resolution of RobotLocomotion#14295.
sammy-tri pushed a commit that referenced this issue May 20, 2021
@azeey
parsing: Add support for SDFormat 1.8 model composition (#14401)
315334b 
Changes in behavior:
* Models nested via the `<include>` tag are no longer flattened, which
  means each included model will have its own model instance.
* `drake::multibody::Parser::AddAllModelsFromFile` now returns all added
  models including nested models

Note: This does not use a custom parser for URDFs via libsdformat's
Interface API, and thus may incur unexpected behavior when including
URDF files from SDFormat pending the full resolution of #14295.
@azeey azeey mentioned this issue May 27, 2021
Merged
EricCousineau-TRI pushed a commit to azeey/drake that referenced this issue Jun 3, 2021
@azeey @EricCousineau-TRI
parsing: Add support for SDFormat 1.8 model composition
d2107c6 
Changes in behavior:
* Models nested via the `<include>` tag are no longer flattened, which
  means each included model will have its own model instance.
* `drake::multibody::Parser::AddAllModelsFromFile` now returns all added
  models including nested models

Note: This does not use a custom parser for URDFs via libsdformat's
Interface API, and thus may incur unexpected behavior when including
URDF files from SDFormat pending the full resolution of RobotLocomotion#14295.
sammy-tri pushed a commit that referenced this issue Jun 3, 2021
@azeey
parsing: Add support for SDFormat 1.8 model composition (redo) (#15099)
8d48ff9 
This a redo of #14401 but does not create a frame for each model in the parent scope of the model. There is still a frame associated with each model, but it's named __model__ and is found inside the model instance.

Changes in behavior:
* Models nested via the `<include>` tag are no longer flattened, which
  means each included model will have its own model instance.
* `drake::multibody::Parser::AddAllModelsFromFile` now returns all added
  models including nested models

Note: This does not use a custom parser for URDFs via libsdformat's
Interface API, and thus may incur unexpected behavior when including
URDF files from SDFormat pending the full resolution of #14295.

* Do not create frame named after model

Signed-off-by: Addisu Z. Taddese <[email protected]>
@azeey azeey mentioned this issue Jun 7, 2021
Merged
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component: geometry general Geometry infrastructure or topics that defy categorization into other geometry components component: multibody plant MultibodyPlant and supporting code unused team: manipulation
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parsing: Use libsdformat's Interface API to parse URDF files azeey/drake
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