{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2426","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2426/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2426/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2426/events","html_url":"https://github.com/RobotLocomotion/drake/pull/2426","id":156250200,"number":2426,"title":"Added support for loading the same SDF file multiple times.","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/priority:%20medium","name":"priority: 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request","color":"0e8a16"}],"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":5,"created_at":"2016-05-23T10:36:52Z","updated_at":"2016-06-06T18:24:23Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/2426","html_url":"https://github.com/RobotLocomotion/drake/pull/2426","diff_url":"https://github.com/RobotLocomotion/drake/pull/2426.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/2426.patch"},"body":"This is not yet ready to be merged (I quickly hacked in the new feature), but it contains changes necessary to load the same SDF file multiple times.\r\n\r\nYou can run the demo by executing the following:\r\n\r\n```\r\n$ cd [drake distro]/drake/examples/Cars\r\n$ ../../../build/bin/drake-visualizer &\r\n$ ../../pod-build/bin/multi_car_sim\r\n```\r\n\r\nHere's what you should see in Drake Visualizer:\r\n\r\n<img width=\"982\" alt=\"screen shot 2016-05-23 at 6 28 52 am\" src=\"https://cloud.githubusercontent.com/assets/1388098/15468205/e592bb54-20b0-11e6-833c-938b9beaba1d.png\">\r\n\r\nThe example source code is in `[drake distro]/drake/examples/cars/multi_car_sim.cpp`.\r\n\r\n<!-- Reviewable:start -->\r\n---\r\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"35\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/2426)\r\n<!-- Reviewable:end -->"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/224044590","html_url":"https://github.com/RobotLocomotion/drake/pull/2426#issuecomment-224044590","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2426","id":224044590,"user":{"login":"jwnimmer-tri","id":17596505,"avatar_url":"https://avatars.githubusercontent.com/u/17596505?v=3","gravatar_id":"","url":"https://api.github.com/users/jwnimmer-tri","html_url":"https://github.com/jwnimmer-tri","followers_url":"https://api.github.com/users/jwnimmer-tri/followers","following_url":"https://api.github.com/users/jwnimmer-tri/following{/other_user}","gists_url":"https://api.github.com/users/jwnimmer-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/jwnimmer-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jwnimmer-tri/subscriptions","organizations_url":"https://api.github.com/users/jwnimmer-tri/orgs","repos_url":"https://api.github.com/users/jwnimmer-tri/repos","events_url":"https://api.github.com/users/jwnimmer-tri/events{/privacy}","received_events_url":"https://api.github.com/users/jwnimmer-tri/received_events","type":"User","site_admin":false},"created_at":"2016-06-06T18:24:22Z","updated_at":"2016-06-06T18:24:22Z","body":"I started reading this, but TBH I'm not sure this is a direction I want to support.  Robot instancing would be trivial with a different RBT design; bolting it onto this design is just more difficult-to-get-right complexity.  If there is no immediate need (in other words, if this PR was only for my benefit), I'd rather stack this PR after a general cleanup / redesign of the RB/RBT interfaces.  Adding one more hand-crafted underdocumented public integer into the mix doesn't seem worth it, if nobody is chomping at the bit for the feature.  If there is a quick need for this, let me know and I can try to find a good compromise.\n\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> This PR passed https://drake-jenkins.csail.mit.edu/job/experimental/1946/ and is thus ready for review.\n</details>\n\n\n---\n\nReviewed 1 of 13 files at r3.\nReview status: 1 of 14 files reviewed at latest revision, 5 unresolved discussions.\n\n---\n\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/2426#-:-KJawKK4k9S2IAyHc4O7:-903919156)*\n<!-- Sent from Reviewable.io -->\n"}}
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