{"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/waiting%20for%20build%20servers","name":"waiting for build servers","color":"d4c5f9"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/waiting%20for%20code%20review","name":"waiting for code review","color":"d4c5f9"}],"state":"open","locked":false,"assignee":{"login":"david-german-tri","id":17437069,"avatar_url":"https://avatars.githubusercontent.com/u/17437069?v=3","gravatar_id":"","url":"https://api.github.com/users/david-german-tri","html_url":"https://github.com/david-german-tri","followers_url":"https://api.github.com/users/david-german-tri/followers","following_url":"https://api.github.com/users/david-german-tri/following{/other_user}","gists_url":"https://api.github.com/users/david-german-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/david-german-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/david-german-tri/subscriptions","organizations_url":"https://api.github.com/users/david-german-tri/orgs","repos_url":"https://api.github.com/users/david-german-tri/repos","events_url":"https://api.github.com/users/david-german-tri/events{/privacy}","received_events_url":"https://api.github.com/users/david-german-tri/received_events","type":"User","site_admin":false},"milestone":null,"comments":75,"created_at":"2016-03-21T04:30:17Z","updated_at":"2016-04-10T20:21:08Z","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\n## Summary of changes:\r\n1. Updated API of a rigid body to allow modification of the reference frame of its inertial, visual, and collision elements. This is necessary since Drake requires that links be defined in terms of their parent joint's reference frames.\r\n2. Updated API of Rigid Body System to allow positioning a URDF anywhere in the world. This will be further generalized in https://github.com/RobotLocomotion/drake/issues/2003 to allow SDF models to also be positioned anywhere in the world.\r\n3. Debugged the SDF parser to conform to the implicit SDF standard (i.e., there no formal XSD so this required some reverse-engineering).\r\n4. Updated prius.urdf and prius.sdf models to be identical and to position the links at the same place as their visualizations.\r\n\r\n## Execution Instructions\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.\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/1898)\r\n<!-- Reviewable:end -->"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/208060125","html_url":"https://github.com/RobotLocomotion/drake/pull/1898#issuecomment-208060125","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1898","id":208060125,"user":{"login":"david-german-tri","id":17437069,"avatar_url":"https://avatars.githubusercontent.com/u/17437069?v=3","gravatar_id":"","url":"https://api.github.com/users/david-german-tri","html_url":"https://github.com/david-german-tri","followers_url":"https://api.github.com/users/david-german-tri/followers","following_url":"https://api.github.com/users/david-german-tri/following{/other_user}","gists_url":"https://api.github.com/users/david-german-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/david-german-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/david-german-tri/subscriptions","organizations_url":"https://api.github.com/users/david-german-tri/orgs","repos_url":"https://api.github.com/users/david-german-tri/repos","events_url":"https://api.github.com/users/david-german-tri/events{/privacy}","received_events_url":"https://api.github.com/users/david-german-tri/received_events","type":"User","site_admin":false},"created_at":"2016-04-10T20:21:08Z","updated_at":"2016-04-10T20:21:08Z","body":"\n\n\n\nReview status: all files reviewed at latest revision, all discussions resolved.\n\n---\n\n*[drake/systems/plants/test/CMakeLists.txt, line 91 \\[r8\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/1898#-KF0ldffjFdeR28imC0-:-KF0pHOVmN4MoNP3rPF5:210520855) ([raw file](https://github.com/robotlocomotion/drake/blob/70bfebe294b2ccf8c538c7dcb51e713173fe6175/drake/systems/plants/test/CMakeLists.txt#L91)):*\nNo, this was a misunderstanding on my part.  snopt_c refers to the SNOPT source POD, but precompiled SNOPT can be available even if snopt_c is absent.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/1898)*\n<!-- Sent from Reviewable.io -->\n"}}