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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Support 3-component scale attribute in URDF/SDF #2242

Closed patmarion closed 8 years ago

patmarion commented 8 years ago

Currently, drake parses the scale attribute as a scalar value when it could be a 3 element vector. There are example files in drake that use both scalar and vector attributes, perhaps they should all use vector attributes.

I developed a branch to resolve this last year. I can't remember why the branch didn't get merged way back then. It's just a single commit here:

https://github.com/patmarion/drake/commit/acbbacdbf53c20d47cda6abcf8b4c575fd34ff19

I have assigning this issue to @liangfok because I noticed that he changed the Prius model from scale="1" to scale="1.0 1.0 1.0" :)

patmarion commented 8 years ago

Note, drake-visualizer already supports scale data as a scalar or 3 element vector. As soon as BotVisualizer is updated to publish the data the visualization will work.

liangfok commented 8 years ago

Yeah, let's make Drake standardize on a 3-vector for scale specification. If I recall correctly, I changed the scale in prius.urdf to make it compatible with ROS and Gazebo. Furthermore, the example on this page also shows that scale is a 3-vector.