{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1898","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1898/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1898/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1898/events","html_url":"https://github.com/RobotLocomotion/drake/pull/1898","id":142253689,"number":1898,"title":"Working SDF Parser and Prius SDF / URDF Models","user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/question","name":"question","color":"207de5"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/waiting%20for%20build%20servers","name":"waiting for build servers","color":"d4c5f9"}],"state":"open","locked":false,"assignee":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"milestone":null,"comments":46,"created_at":"2016-03-21T04:30:17Z","updated_at":"2016-04-08T11:18:29Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1898","html_url":"https://github.com/RobotLocomotion/drake/pull/1898","diff_url":"https://github.com/RobotLocomotion/drake/pull/1898.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1898.patch"},"body":"Resolves https://github.com/RobotLocomotion/drake/issues/1714\r\nFixes https://github.com/RobotLocomotion/drake/issues/1887\r\nFixes https://github.com/RobotLocomotion/drake/issues/1904\r\n\r\nTo run the simulation, execute the commands below. You should be able to \"drive\" the car around in simulation.\r\n\r\n```\r\n$ cd [drake repo]/drake/examples/Cars\r\n$ ../../../build/bin/drake-visualizer &\r\n$ python SteeringCommandDriver.py &\r\n$ ../../pod-build/bin/carSimLCM prius/prius.[sdf/urdf]\r\n```\r\n\r\nTo run the SDF / URDF comparison test, execute the commands below. You should see it execute 1000 rounds each evaluating a random initial state and command applied to the two models.\r\n\r\n```\r\n$ cd [drake repo]\r\n$ ./drake/pod-build/bin/compareRigidBodySystems drake/examples/Cars/prius/prius.sdf drake/examples/Cars/prius/prius.urdf 0 0 0.378326\r\n```\r\n\r\nI've only tested this on a 64-bit Ubuntu 14.04 machine.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"35\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/1898)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/207384538","html_url":"https://github.com/RobotLocomotion/drake/pull/1898#issuecomment-207384538","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1898","id":207384538,"user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"created_at":"2016-04-08T11:18:29Z","updated_at":"2016-04-08T11:18:29Z","body":"OK I will implement a mechanism that prevents collision models from being loaded for that specific test, and create an issue for tracking down why function handle constraints are being formed in the presence of collision models."}}