From 0d33b75ac69994672a994c4a2df6061bb657f380 Mon Sep 17 00:00:00 2001 From: Eric Cousineau Date: Thu, 13 Aug 2020 12:47:36 -0400 Subject: [PATCH] add in brief parsing stage update --- composition/proposal.md | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/composition/proposal.md b/composition/proposal.md index 4c520e3..f174153 100644 --- a/composition/proposal.md +++ b/composition/proposal.md @@ -329,7 +329,8 @@ are more local. **Alternatives Considered for Reference Syntax** * Use `/` instead of `::`, and permit `../` for upwards references. - * This looks a bit more like a filesystem (more relevant to these semantics). However, there is inertia due to Gazebo's usage of `::` + * This looks a bit more like a filesystem (more relevant to these + semantics). However, there is inertia due to Gazebo's usage of `::` for composition, in both SDFormat files and for models (and IPC channels / topics in general). * Upwards references: @@ -502,7 +503,7 @@ models, and `model://` URIs for Gazebo models. ##### 1.4.6 `//include/static` -**TODO(eric)**: Reconsider this in future iterations of the proposal. +**TODO(eric.cousineau)**: Reconsider this in future iterations of the proposal. This allows the `//model/static` element to be overridden and will affect *all* models transitively included via the `//include` element, and can *only* @@ -966,6 +967,18 @@ There are seven phases for validating the kinematics data in a world: and the [SemanticPose::Resolve](https://github.com/osrf/sdformat/blob/sdformat9_9.2.0/include/sdf/SemanticPose.hh#L65-L73) function. +#### Short-form modifications for Interface API + +*TODO(eric.cousineau): Factor into above steps.* + +* Load the SDFormat model DOM. +* For each include: + * If non-SDFormat, directly load, record the `sdf::InterfaceModel`. + * If SDFormat-compatible, recursively load the DOM into nested models. + * For each nested model, directly load any nested non-SDFormat models. +* Resolve frame graph. + * Reposture non-SDFormat models. + ### Examples #### 1 Weld Arm and Gripper