{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8776","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8776/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8776/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8776/events","html_url":"https://github.com/RobotLocomotion/drake/pull/8776","id":321351784,"number":8776,"title":"Adding boxes to SceneGraph","user":{"login":"SeanCurtis-TRI","id":22159799,"avatar_url":"https://avatars3.githubusercontent.com/u/22159799?v=4","gravatar_id":"","url":"https://api.github.com/users/SeanCurtis-TRI","html_url":"https://github.com/SeanCurtis-TRI","followers_url":"https://api.github.com/users/SeanCurtis-TRI/followers","following_url":"https://api.github.com/users/SeanCurtis-TRI/following{/other_user}","gists_url":"https://api.github.com/users/SeanCurtis-TRI/gists{/gist_id}","starred_url":"https://api.github.com/users/SeanCurtis-TRI/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/SeanCurtis-TRI/subscriptions","organizations_url":"https://api.github.com/users/SeanCurtis-TRI/orgs","repos_url":"https://api.github.com/users/SeanCurtis-TRI/repos","events_url":"https://api.github.com/users/SeanCurtis-TRI/events{/privacy}","received_events_url":"https://api.github.com/users/SeanCurtis-TRI/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"amcastro-tri","id":17601461,"avatar_url":"https://avatars3.githubusercontent.com/u/17601461?v=4","gravatar_id":"","url":"https://api.github.com/users/amcastro-tri","html_url":"https://github.com/amcastro-tri","followers_url":"https://api.github.com/users/amcastro-tri/followers","following_url":"https://api.github.com/users/amcastro-tri/following{/other_user}","gists_url":"https://api.github.com/users/amcastro-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/amcastro-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/amcastro-tri/subscriptions","organizations_url":"https://api.github.com/users/amcastro-tri/orgs","repos_url":"https://api.github.com/users/amcastro-tri/repos","events_url":"https://api.github.com/users/amcastro-tri/events{/privacy}","received_events_url":"https://api.github.com/users/amcastro-tri/received_events","type":"User","site_admin":false},"assignees":[{"login":"amcastro-tri","id":17601461,"avatar_url":"https://avatars3.githubusercontent.com/u/17601461?v=4","gravatar_id":"","url":"https://api.github.com/users/amcastro-tri","html_url":"https://github.com/amcastro-tri","followers_url":"https://api.github.com/users/amcastro-tri/followers","following_url":"https://api.github.com/users/amcastro-tri/following{/other_user}","gists_url":"https://api.github.com/users/amcastro-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/amcastro-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/amcastro-tri/subscriptions","organizations_url":"https://api.github.com/users/amcastro-tri/orgs","repos_url":"https://api.github.com/users/amcastro-tri/repos","events_url":"https://api.github.com/users/amcastro-tri/events{/privacy}","received_events_url":"https://api.github.com/users/amcastro-tri/received_events","type":"User","site_admin":false}],"milestone":null,"comments":3,"created_at":"2018-05-08T21:22:35Z","updated_at":"2018-05-09T03:12:45Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/8776","html_url":"https://github.com/RobotLocomotion/drake/pull/8776","diff_url":"https://github.com/RobotLocomotion/drake/pull/8776.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/8776.patch"},"body":"This adds the box primitive to SceneGraph for both collision and\r\nvisualization.\r\n\r\n1. Add box spec to `shape_specification.h` and extend reifier interface to\r\n   include the box.\r\n2. Update the proximity engine, rigid body plant bridge, and visualizer\r\n   reification implementation to account for the boxes.\r\n3. Fix collision parameters using FCL -- both solver type and tolerances.\r\n4. Modify unit tests -- introduce \"tangent contact\" test to test boxes\r\n   against other geometry types. (Small clean up of previous testing code.)\r\n5. Modify sliding_boxes.cc to verify visualization of boxes.\r\n\r\nNOTE: The current FCL has *horrible* precision for collision between box\r\nand quadratic surfaces (sphere and cylinder). The tests in\r\nproximity_engine_test.cc specifically calls those out.\r\n\r\n\r\n```\r\nCategory            added  modified  removed  \r\n----------------------------------------------\r\ncode                240    18        4        \r\ncomments            110    4         4        \r\nblank               47     0         0        \r\n----------------------------------------------\r\nTOTAL               397    22        8   \r\n```\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/8776)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/387607197","html_url":"https://github.com/RobotLocomotion/drake/pull/8776#issuecomment-387607197","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8776","id":387607197,"user":{"login":"SeanCurtis-TRI","id":22159799,"avatar_url":"https://avatars3.githubusercontent.com/u/22159799?v=4","gravatar_id":"","url":"https://api.github.com/users/SeanCurtis-TRI","html_url":"https://github.com/SeanCurtis-TRI","followers_url":"https://api.github.com/users/SeanCurtis-TRI/followers","following_url":"https://api.github.com/users/SeanCurtis-TRI/following{/other_user}","gists_url":"https://api.github.com/users/SeanCurtis-TRI/gists{/gist_id}","starred_url":"https://api.github.com/users/SeanCurtis-TRI/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/SeanCurtis-TRI/subscriptions","organizations_url":"https://api.github.com/users/SeanCurtis-TRI/orgs","repos_url":"https://api.github.com/users/SeanCurtis-TRI/repos","events_url":"https://api.github.com/users/SeanCurtis-TRI/events{/privacy}","received_events_url":"https://api.github.com/users/SeanCurtis-TRI/received_events","type":"User","site_admin":false},"created_at":"2018-05-09T03:12:45Z","updated_at":"2018-05-09T03:12:45Z","author_association":"CONTRIBUTOR","body":"One of the delays on this PR has been intermittent efforts to address that. I'd pushed a couple of PRs in fcl which, at the end of the day, didn't make things better.  :(  Some of this will be addressed by not having sphere-cube intersection going to GJK. That's just absurd. But, for now, this gets it in with *some* answers.\n\nAlso, it's worth noting that the largest error is in normal direction. When a normal is supposed to be [0, 0, 1], and we get [0.07, 0, 0.9975] it's *close* to the right normal, but the error is still large.\n\n---\n\nReview status: 0 of 10 files reviewed at latest revision, 1 unresolved discussion, some commit checks failed.\n\n---\n\n*[a discussion](https://reviewable.io/reviews/robotlocomotion/drake/8776#-LC13or_7Pvt7WDZH42H:-LC1shV5Ad0qz6bb3rFU:b-e6j8aa) (no related file):*\n<details><summary><i>Previously, amcastro-tri (Alejandro Castro) wrote…</i></summary><blockquote>\n\nCI barks due to some lint and the removal of a \"playback\" flag from `sliding_bricks.cc` that however still gets passed in the `BUILD.bazel` file.\n</blockquote></details>\n\nThanks for flagging that. I'll clean that up as well.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io/reviews/robotlocomotion/drake/8776#-:-LC1s6O60QgrEn8S0v1S:b-f7pg1)*\n<!-- Sent from Reviewable.io -->\n"}}
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