add pyproject.toml

see also https://packaging.python.org/en/latest/guides/modernize-setup-py-project/ and
https://github.com/pypa/pip/issues/6334

.github/workflows/cmake.yml

@@ -0,0 +1,38 @@
+name: CMake
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # Execute tests defined by the CMake configuration.  
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C ${{env.BUILD_TYPE}}
+      

.gitignore

@@ -36,3 +36,7 @@ CTestTestFile.cmake
 
 # vim temp files
 *.swp
+
+.vscode/
+.idea/
+cmake-build-debug/

.travis.yml

@@ -1,46 +0,0 @@
-language: cpp
-matrix:
-  include:
-    - os: linux
-      compiler: clang
-      env:
-        - BUILD_NAME=TRUSTY_CLANG
-        - SUDO=sudo
-    - os: linux
-      compiler: clang
-      env:
-        - BUILD_NAME=XENIAL_CLANG
-        - DOCKER_FILE="ubuntu-xenial"
-      services: docker
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=BIONIC_GCC
-        - DOCKER_FILE="ubuntu-bionic"
-      services: docker
-    - os: linux
-      compiler: clang
-      env:
-        - BUILD_NAME=BIONIC_CLANG
-        - DOCKER_FILE="ubuntu-bionic"
-      services: docker
-    - os: osx
-      compiler: gcc
-      env:
-        - BUILD_NAME=OSX_GCC
-    - os: osx
-      compiler: clang
-      env:
-        - COMPILER=clang++
-        - BUILD_NAME=OSX_CLANG
-before_install:
-  - if [ -n "$DOCKER_FILE" ]; then
-      docker build -t "$DOCKER_FILE" -f ".ci/docker/$DOCKER_FILE" .;
-      docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name bullet-docker "$DOCKER_FILE";
-    fi
-script:
-  - if [ -n "$DOCKER_FILE" ]; then
-      docker exec bullet-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
-    else
-      '.ci/script.sh';
-    fi

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.4.3)
+cmake_minimum_required(VERSION 3.5)
 set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
 cmake_policy(SET CMP0017 NEW)
 #this line has to appear before 'PROJECT' in order to be able to disable incremental linking

Extras/BulletRobotics/CMakeLists.txt

@@ -304,6 +304,7 @@ INSTALL (
   ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
 
 IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
     CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake
                    ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc @ONLY)
   	INSTALL(

Extras/BulletRoboticsGUI/CMakeLists.txt

@@ -183,6 +183,7 @@ ENDIF (BUILD_SHARED_LIBS)
   ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
 
 IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
     CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics_gui.pc.cmake
                    ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc @ONLY)
   	INSTALL(

Extras/CMakeLists.txt

@@ -1,5 +1,36 @@
-SUBDIRS( InverseDynamics BulletRoboticsGUI BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
+OPTION(BUILD_INVERSE_DYNAMIC_EXTRA "Build InverseDynamic extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_GUI_EXTRA "Build BulletRoboticsGUI extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_EXTRA "Build BulletRobotics extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_OBJ2SDF_EXTRA "Build obj2sdf extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_SERIALIZE_EXTRA "Build Serialize extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_CONVEX_DECOMPOSITION_EXTRA "Build ConvexDecomposition extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_HACD_EXTRA "Build HACD extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_GIMPACTUTILS_EXTRA "Build GIMPACTUtils extra module, only applied when BUILD_EXTRAS is ON" ON)
 
+IF(BUILD_INVERSE_DYNAMIC_EXTRA)
+  SUBDIRS( InverseDynamics )
+ENDIF()
+IF(BUILD_BULLET_ROBOTICS_GUI_EXTRA)
+  SUBDIRS( BulletRoboticsGUI )
+ENDIF()
+IF(BUILD_BULLET_ROBOTICS_EXTRA)
+  SUBDIRS( BulletRobotics )
+ENDIF()
+IF(BUILD_OBJ2SDF_EXTRA)
+  SUBDIRS( obj2sdf )
+ENDIF()
+IF(BUILD_SERIALIZE_EXTRA)
+  SUBDIRS( Serialize )
+ENDIF()
+IF(BUILD_CONVEX_DECOMPOSITION_EXTRA)
+  SUBDIRS( ConvexDecomposition )
+ENDIF()
+IF(BUILD_HACD_EXTRA)
+  SUBDIRS( HACD )
+ENDIF()
+IF(BUILD_GIMPACTUTILS_EXTRA)
+  SUBDIRS( GIMPACTUtils )
+ENDIF()
 
 
 #Maya Dynamica plugin is moved to http://dynamica.googlecode.com

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -75,6 +75,7 @@ bFile::bFile(const char *filename, const char headerString[7])
 		fseek(fp, 0L, SEEK_SET);
 
 		mFileBuffer = (char *)malloc(mFileLen + 1);
+                memset(mFileBuffer, 0, mFileLen+1);
 		size_t bytesRead;
 		bytesRead = fread(mFileBuffer, mFileLen, 1, fp);
 
@@ -736,7 +737,7 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
 	if (new_dna == -1) return;
 
 	//disable this, because we need to fixup pointers/ListBase
-	if (0)  //mFileDNA->flagEqual(old_dna))
+	if (/* DISABLES CODE */ (0))  //mFileDNA->flagEqual(old_dna))
 	{
 		short *strc = mFileDNA->getStruct(old_dna);
 		int len = mFileDNA->getLength(strc[0]);

Extras/Serialize/BulletFileLoader/btBulletFile.cpp

@@ -333,6 +333,7 @@ void btBulletFile::parse(int verboseMode)
 		if (m_DnaCopy)
 			delete m_DnaCopy;
 		m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
+                memset(m_DnaCopy, 0, sBulletDNAlen64);
 		memcpy(m_DnaCopy, sBulletDNAstr64, sBulletDNAlen64);
 		parseInternal(verboseMode, m_DnaCopy, sBulletDNAlen64);
 	}

Extras/Serialize/ReadBulletSample/main.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2011 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

Extras/VHACD/inc/vhacdMutex.h

@@ -69,7 +69,7 @@
 #include <pthread.h>
 #endif
 
-#if defined(__APPLE__)
+#if defined(__APPLE__) || !defined(__GLIBC__)
 #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE
 #endif
 

Extras/obj2sdf/obj2sdf.cpp

@@ -30,13 +30,13 @@
 #include "Bullet3Common/b3HashMap.h"
 #include "../Utils/b3BulletDefaultFileIO.h"
 
-using tinyobj::index_t;
+using bt_tinyobj::index_t;
 
 struct ShapeContainer
 {
 	std::string m_matName;
 	std::string m_shapeName;
-	tinyobj::material_t material;
+	bt_tinyobj::material_t material;
 	std::vector<float> positions;
 	std::vector<float> normals;
 	std::vector<float> texcoords;
@@ -91,11 +91,11 @@ int main(int argc, char* argv[])
 	char materialPrefixPath[MAX_PATH_LEN];
 	b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN);
 
-	std::vector<tinyobj::shape_t> shapes;
-	tinyobj::attrib_t attribute;
+	std::vector<bt_tinyobj::shape_t> shapes;
+	bt_tinyobj::attrib_t attribute;
 
 	b3BulletDefaultFileIO fileIO;
-	std::string err = tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath,&fileIO);
+	std::string err = bt_tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath, &fileIO);
 
 	char sdfFileName[MAX_PATH_LEN];
 	sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf");
@@ -110,8 +110,8 @@ int main(int argc, char* argv[])
 
 	for (int s = 0; s < (int)shapes.size(); s++)
 	{
-		tinyobj::shape_t& shape = shapes[s];
-		tinyobj::material_t mat = shape.material;
+		bt_tinyobj::shape_t& shape = shapes[s];
+		bt_tinyobj::material_t mat = shape.material;
 
 		b3HashString key = mat.name.length() ? mat.name.c_str() : "";
 		if (!gMaterialNames.find(key))
@@ -212,7 +212,7 @@ int main(int argc, char* argv[])
 
 			int faceCount = shapeCon->indices.size();
 			int vertexCount = shapeCon->positions.size();
-			tinyobj::material_t mat = shapeCon->material;
+			bt_tinyobj::material_t mat = shapeCon->material;
 			if (shapeCon->m_matName.length())
 			{
 				const char* objName = shapeCon->m_matName.c_str();
@@ -271,7 +271,7 @@ int main(int argc, char* argv[])
 			fprintf(sdfFile,
 					"\t\t<model name='%s'>\n"
 					"\t\t\t<static>1</static>\n"
-					"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+					"\t\t\t<pose >0 0 0 0 0 0</pose>\n"
 					"\t\t\t<link name='link_d%d'>\n"
 					"\t\t\t<inertial>\n"
 					"\t\t\t<mass>0</mass>\n"
@@ -317,7 +317,7 @@ int main(int argc, char* argv[])
 	{
 		for (int s = 0; s < (int)shapes.size(); s++)
 		{
-			tinyobj::shape_t& shape = shapes[s];
+			bt_tinyobj::shape_t& shape = shapes[s];
 
 			if (shape.name.length())
 			{
@@ -351,7 +351,7 @@ int main(int argc, char* argv[])
 
 			int faceCount = shape.mesh.indices.size();
 			int vertexCount = attribute.vertices.size();
-			tinyobj::material_t mat = shape.material;
+			bt_tinyobj::material_t mat = shape.material;
 			if (shape.name.length())
 			{
 				const char* objName = shape.name.c_str();
@@ -411,7 +411,7 @@ int main(int argc, char* argv[])
 			fprintf(sdfFile,
 					"\t\t<model name='%s'>\n"
 					"\t\t\t<static>1</static>\n"
-					"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+					"\t\t\t<pose>0 0 0 0 0 0</pose>\n"
 					"\t\t\t<link name='link_d%d'>\n"
 					"\t\t\t<inertial>\n"
 					"\t\t\t<mass>0</mass>\n"

README.md

@@ -7,8 +7,11 @@ This is the official C++ source code repository of the Bullet Physics SDK: real-
 
 ![PyBullet](https://pybullet.org/wordpress/wp-content/uploads/2019/03/cropped-pybullet.png)
 
+## Issues ##
+The Issue tracker was flooded with support questions and is closed until it is cleaned up. Use the [PyBullet forums](http://pybullet.org) to discuss with others.
+
 ## PyBullet ##
-New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
+It is highly recommended to use PyBullet Python bindings for improved support for robotics, reinforcement learning and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
 
 Installation is simple:
 ```
@@ -21,11 +24,11 @@ python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_ar
 If you use PyBullet in your research, please cite it like this:
 
 ```
-@MISC{coumans2019,
+@MISC{coumans2021,
 author =   {Erwin Coumans and Yunfei Bai},
 title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
 howpublished = {\url{http://pybullet.org}},
-year = {2016--2019}
+year = {2016--2021}
 }
 ```
 
@@ -63,7 +66,7 @@ You can download and install Bullet using the [vcpkg](https://github.com/Microso
     cd vcpkg
     ./bootstrap-vcpkg.sh
     ./vcpkg integrate install
-    vcpkg install bullet3
+    ./vcpkg install bullet3
 
 The Bullet port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
 
@@ -88,12 +91,12 @@ p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86
 
 **Linux and Mac OSX gnu make**
 
-Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)
+Make sure gcc and cmake is installed (`sudo apt-get install build-essential` and `sudo apt-get install cmake` for Linux, `brew install cmake` for Mac, or https://cmake.org)
 
 In a terminal type:
-
-	./build_cmake_pybullet_double.sh
-
+```
+./build_cmake_pybullet_double.sh
+```
 This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
 The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
 
@@ -101,15 +104,15 @@ You can also build Bullet using premake. There are premake executables in the bu
 Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
 Using premake:
 ```
-	cd build3
-	./premake4_linux --double gmake
-	./premake4_linux64 --double gmake
-	./premake4_osx --double --enable_pybullet gmake
+cd build3
+./premake4_linux --double gmake
+./premake4_linux64 --double gmake
+./premake4_osx --double --enable_pybullet gmake
 ```
 Then
 ```
-	cd gmake
-	make
+cd gmake
+make
 ```
 
 Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
@@ -117,9 +120,9 @@ Note that on Linux, you need to use cmake to build pybullet, since the compiler
 **Mac OSX Xcode**
 	
 Click on build3/xcode4.command or in a terminal window execute
-	
-	./premake_osx xcode4
-
+```	
+./premake_osx xcode4
+```
 ## Usage
 
 The App_ExampleBrowser executables will be located in the bin folder.

VERSION

@@ -1 +1 @@
-3.08
+3.27

build3/premake4.lua

@@ -66,7 +66,27 @@
 		trigger = "enable_static_vr_plugin",
 		description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
 	}
-	
+         newoption
+        {
+                trigger = "enable_static_test_plugin",
+                description = "Statically link test plugin (in examples/SharedMemory/plugins/testPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_tiny_renderer__plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/tinyRendererPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_pd_control_plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/pdControlPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_collision_filter_plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/collisionFilterPlugin)"
+        }
+ 
 	newoption
 	{
 		trigger = "enable_physx",
@@ -319,6 +339,12 @@ end
 		trigger = "no-test",
 		description = "Disable all tests"
 	}
+	newoption
+        {       
+                trigger = "test-bullet2",
+
+                description = "Enable Bullet2 LinearMath test"
+        }
 
 	newoption
 	{
@@ -646,7 +672,9 @@ end
         end
 
 	if not _OPTIONS["no-test"] then
+                if _OPTIONS["test-bullet2"] then
 		include "../test/Bullet2"
+		end
 
 		if not _OPTIONS["no-gtest"] then
 			include "../test/gtest-1.7.0"

build_visual_studio_vr_pybullet_double_cmake.bat

@@ -1,4 +1,4 @@
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 16 2019" ..
+cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python38\include -DPYTHON_LIBRARY=c:\python38\libs\python38.lib -DPYTHON_DEBUG_LIBRARY=c:\python38\libs\python38.lib -G "Visual Studio 16 2019" ..
 start .

data/cube_small.sdf

@@ -1,7 +1,7 @@
 <sdf version='1.6'>
   <world name='default'>
     <model name='unit_box_0'>
-      <pose frame=''>0 0 0.107 0 0 0</pose>
+      <pose>0 0 0.107 0 0 0</pose>
       <link name='unit_box_0::link'>
         <inertial>
           <mass>0.1</mass>

data/gripper/wsg50_one_motor_gripper.sdf

@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.26 3.14 0 0</pose>
+    <pose>0 0 0.26 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -249,9 +249,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -264,7 +264,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -273,7 +273,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -305,7 +305,7 @@
     </joint>
     
     <link name='finger_right'>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -319,7 +319,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -329,7 +329,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -345,7 +345,7 @@
     </joint>
     
     <link name='finger_left'>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -359,7 +359,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -369,7 +369,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>

data/gripper/wsg50_one_motor_gripper_free_base.sdf

@@ -3,11 +3,11 @@
   <world name='default'>
   <model name='wsg50_with_gripper'>
     
-    <pose frame=''>0 -2.3 2.1 0 0 0</pose>
+    <pose>0 -2.3 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -26,9 +26,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -41,7 +41,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -56,9 +56,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -70,7 +70,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -100,9 +100,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -114,7 +114,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -145,9 +145,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -190,9 +190,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -205,7 +205,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -214,7 +214,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -247,9 +247,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -262,7 +262,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -271,7 +271,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
+      <pose>0.042 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
+      <pose>-0.042 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>

data/gripper/wsg50_one_motor_gripper_new.sdf

@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.7 3.14 0 0</pose>
+    <pose>0 0 0.7 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>

data/gripper/wsg50_one_motor_gripper_new_free_base.sdf

@@ -2,11 +2,11 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
+    <pose>1.4 -0.2 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -25,9 +25,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -40,7 +40,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -55,9 +55,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -69,7 +69,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -99,9 +99,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -113,7 +113,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -144,9 +144,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -158,7 +158,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -189,9 +189,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -204,7 +204,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -213,7 +213,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -245,9 +245,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -260,7 +260,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -269,7 +269,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -304,7 +304,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -318,7 +318,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -328,7 +328,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -348,7 +348,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -362,7 +362,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -372,7 +372,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>

data/gripper/wsg50_one_motor_gripper_no_finger.sdf

@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.4 3.14 0 0</pose>
+    <pose>0 0 0.4 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 0</pose>
+      <pose>0.055 0 0.06 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 3.14159</pose>
+        <pose>0 0 -0.06 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 3.14159</pose>
+        <pose>0 0 -0.037 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>

data/gripper/wsg50_with_r2d2_gripper.sdf

@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.27 3.14 0 0</pose>
+    <pose>0 0 0.27 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -42,7 +42,7 @@
         </inertia>
       </inertial>
       <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
 		<box>
               <size>0.2 0.05 0.05 </size>
@@ -50,7 +50,7 @@
         </geometry>
       </collision>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -67,9 +67,9 @@
     </link>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0 0 -0 0</pose>
+      <pose>-0.055 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -82,7 +82,7 @@
       </inertial>
 	  
       <collision name='gripper_left_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -91,7 +91,7 @@
         </geometry>
       </collision>
       <collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -101,7 +101,7 @@
       </collision>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -110,7 +110,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -141,9 +141,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0 0 -0 3.14159</pose>
+      <pose>0.055 0 0 0 -0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -156,7 +156,7 @@
       </inertial>
 	  
       <collision name='gripper_right_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -165,7 +165,7 @@
         </geometry>
       </collision>
       <collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -175,7 +175,7 @@
       </collision>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -184,7 +184,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -219,7 +219,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -233,7 +233,7 @@
       </inertial>
 	  
       <collision name='finger_right_collision'>
-	<pose frame=''>0 0 0.042 0 0 0 </pose>
+	<pose>0 0 0.042 0 0 0 </pose>
 	<geometry>        
        <box>
               <size>0.02 0.02 0.15 </size>
@@ -243,7 +243,7 @@
       </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -263,7 +263,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -277,7 +277,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -287,7 +287,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>

data/kuka_iiwa/kuka_with_gripper.sdf

@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -462,9 +462,9 @@
       <child>base_link</child>
     </joint>
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -476,7 +476,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -511,9 +511,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -525,7 +525,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -544,9 +544,9 @@
       <child>left_finger_base</child>
     </joint>
     <link name='left_finger_base'>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -558,7 +558,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -573,7 +573,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,9 +606,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -620,7 +620,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -635,7 +635,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -664,9 +664,9 @@
       </axis>
     </joint>
     <link name='right_finger'>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -678,7 +678,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -697,9 +697,9 @@
       <child>right_finger_base</child>
     </joint>
     <link name='right_finger_base'>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -711,7 +711,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -726,7 +726,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -759,9 +759,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -773,7 +773,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -788,7 +788,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>

data/kuka_iiwa/kuka_with_gripper2.sdf

@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>1.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -468,9 +468,9 @@
     
     
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -482,7 +482,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -496,7 +496,7 @@
         </material>
       </visual>
         <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -531,9 +531,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -545,7 +545,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -559,7 +559,7 @@
         </material>
       </visual>
        <collision name='left_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -577,9 +577,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -591,7 +591,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,7 +606,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -639,9 +639,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -653,7 +653,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -668,7 +668,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -701,9 +701,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -715,7 +715,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -729,7 +729,7 @@
         </material>
       </visual>
       <collision name='right_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -752,9 +752,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -766,7 +766,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -781,7 +781,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -814,9 +814,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -828,7 +828,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -843,7 +843,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>

data/kuka_iiwa/kuka_world.sdf

@@ -6,9 +6,9 @@
       <child>lbr_iiwa_link_0</child>
     </joint>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0.01</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -20,7 +20,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -29,7 +29,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -39,9 +39,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -53,7 +53,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -62,7 +62,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -92,9 +92,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -106,7 +106,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -115,7 +115,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -145,9 +145,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -168,7 +168,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -198,9 +198,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -212,7 +212,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -221,7 +221,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -251,9 +251,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -265,7 +265,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -274,7 +274,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -304,9 +304,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -318,7 +318,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -327,7 +327,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -357,9 +357,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -371,7 +371,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -380,7 +380,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>

data/kuka_iiwa/model.sdf

@@ -1,11 +1,11 @@
 <sdf version='1.6'>
 <world name='default'>
   <model name='lbr_iiwa'>
-  <pose frame=''>0 -2.3 0.7 0 0 0</pose>
+  <pose>0 -2.3 0.7 0 0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -17,7 +17,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -26,7 +26,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -42,9 +42,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -56,7 +56,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -65,7 +65,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -101,9 +101,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -115,7 +115,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -124,7 +124,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -160,9 +160,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -174,7 +174,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -183,7 +183,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -219,9 +219,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -233,7 +233,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -242,7 +242,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -278,9 +278,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -292,7 +292,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -301,7 +301,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -337,9 +337,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -351,7 +351,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -360,7 +360,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -396,9 +396,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -410,7 +410,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -419,7 +419,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>

data/kuka_iiwa/model2.sdf

@@ -2,9 +2,9 @@
 <world name='default'>
   <model name='lbr_iiwa'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -16,7 +16,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -25,7 +25,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -35,9 +35,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -49,7 +49,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,7 +58,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -88,9 +88,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -102,7 +102,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -111,7 +111,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -141,9 +141,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -155,7 +155,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -164,7 +164,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -194,9 +194,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -208,7 +208,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -217,7 +217,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,9 +247,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -261,7 +261,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -270,7 +270,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -300,9 +300,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -314,7 +314,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -323,7 +323,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -353,9 +353,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -367,7 +367,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -376,7 +376,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -408,11 +408,11 @@
   </model>
   
   <model name='lbr_iiwa'>
-    <pose frame=''>2 2 0 0 -0 0</pose>
+    <pose>2 2 0 0 -0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -424,7 +424,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -433,7 +433,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -443,9 +443,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -457,7 +457,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -466,7 +466,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -496,9 +496,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -510,7 +510,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -519,7 +519,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -549,9 +549,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -563,7 +563,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -572,7 +572,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -602,9 +602,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -616,7 +616,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -625,7 +625,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -655,9 +655,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -669,7 +669,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -678,7 +678,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -708,9 +708,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -722,7 +722,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -731,7 +731,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -761,9 +761,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -775,7 +775,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -784,7 +784,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>

data/reduced_beam/beam_mesh.vtk

@@ -0,0 +1,83 @@
+#vtk DataFile Version 2.0
+I don't think this matters
+ASCII
+DATASET UNSTRUCTURED_GRID
+POINTS 28 double
+-0.5000000000000000 -0.2500000000000000 -2.0000000000000000
+-0.5000000000000000 0.2500000000000000 -2.0000000000000000
+0.5000000000000000 -0.2500000000000000 -2.0000000000000000
+0.5000000000000000 0.2500000000000000 -2.0000000000000000
+-0.5000000000000000 -0.2500000000000000 2.0000000000000000
+-0.5000000000000000 0.2500000000000000 2.0000000000000000
+0.5000000000000000 -0.2500000000000000 2.0000000000000000
+0.5000000000000000 0.2500000000000000 2.0000000000000000
+-0.5000000000000000 -0.2500000000000000 1.0000000000000000
+-0.5000000000000000 -0.2500000000000000 0.0000000000000000
+-0.5000000000000000 -0.2500000000000000 -1.0000000000000000
+0.5000000000000000 -0.2500000000000000 -1.0000000000000000
+0.5000000000000000 -0.2500000000000000 0.0000000000000000
+0.5000000000000000 -0.2500000000000000 1.0000000000000000
+-0.5000000000000000 0.2500000000000000 1.0000000000000000
+-0.5000000000000000 0.2500000000000000 0.0000000000000000
+-0.5000000000000000 0.2500000000000000 -1.0000000000000000
+0.5000000000000000 0.2500000000000000 1.0000000000000000
+0.5000000000000000 0.2500000000000000 0.0000000000000000
+0.5000000000000000 0.2500000000000000 -1.0000000000000000
+0.0000000000000000 -0.2500000000000000 -1.5000000000000000
+0.0000000000000000 -0.2500000000000000 -0.5000000000000000
+0.0000000000000000 -0.2500000000000000 0.5000000000000000
+0.0000000000000000 -0.2500000000000000 1.5000000000000000
+0.0000000000000000 0.2500000000000000 1.5000000000000000
+0.0000000000000000 0.2500000000000000 0.5000000000000000
+0.0000000000000000 0.2500000000000000 -0.5000000000000000
+0.0000000000000000 0.2500000000000000 -1.5000000000000000
+CELLS 48 192
+4 22 12 17 13
+4 20 26 21 11
+4 23 8 5 24
+4 11 27 26 19
+4 27 11 26 20
+4 17 22 24 25
+4 7 23 13 6
+4 22 17 24 13
+4 9 25 21 15
+4 24 22 8 14
+4 24 8 22 23
+4 25 9 21 22
+4 23 7 13 24
+4 15 10 16 26
+4 14 25 9 15
+4 25 14 9 22
+4 24 23 22 13
+4 15 10 21 9
+4 15 21 10 26
+4 24 25 22 14
+4 2 11 27 20
+4 7 5 23 6
+4 11 21 12 26
+4 20 1 0 16
+4 18 25 12 17
+4 18 12 25 26
+4 5 7 23 24
+4 26 21 25 15
+4 20 16 27 1
+4 21 25 22 12
+4 20 16 10 26
+4 20 27 16 26
+4 20 10 16 0
+4 11 12 19 26
+4 14 22 8 9
+4 8 23 5 4
+4 24 14 8 5
+4 11 2 27 3
+4 2 27 1 20
+4 12 18 19 26
+4 27 2 1 3
+4 24 13 17 7
+4 20 2 0 1
+4 5 23 6 4
+4 20 10 21 26
+4 12 22 17 25
+4 3 27 11 19
+4 21 26 25 12
+CELL_TYPES 10

data/reduced_beam/beam_mesh_origin.vtk

@@ -0,0 +1,83 @@
+#vtk DataFile Version 2.0
+I don't think this matters
+ASCII
+DATASET UNSTRUCTURED_GRID
+POINTS 28 double
+0.0000000000000000 0.0000000000000000 0.0000000000000000
+0.0000000000000000 0.5000000000000000 0.0000000000000000
+1.0000000000000000 0.0000000000000000 0.0000000000000000
+1.0000000000000000 0.5000000000000000 0.0000000000000000
+0.0000000000000000 0.0000000000000000 4.0000000000000000
+0.0000000000000000 0.5000000000000000 4.0000000000000000
+1.0000000000000000 0.0000000000000000 4.0000000000000000
+1.0000000000000000 0.5000000000000000 4.0000000000000000
+0.0000000000000000 0.0000000000000000 3.0000000000000000
+0.0000000000000000 0.0000000000000000 2.0000000000000000
+0.0000000000000000 0.0000000000000000 1.0000000000000000
+1.0000000000000000 0.0000000000000000 1.0000000000000000
+1.0000000000000000 0.0000000000000000 2.0000000000000000
+1.0000000000000000 0.0000000000000000 3.0000000000000000
+0.0000000000000000 0.5000000000000000 3.0000000000000000
+0.0000000000000000 0.5000000000000000 2.0000000000000000
+0.0000000000000000 0.5000000000000000 1.0000000000000000
+1.0000000000000000 0.5000000000000000 3.0000000000000000
+1.0000000000000000 0.5000000000000000 2.0000000000000000
+1.0000000000000000 0.5000000000000000 1.0000000000000000
+0.5000000000000000 0.0000000000000000 0.5000000000000000
+0.5000000000000000 0.0000000000000000 1.5000000000000000
+0.5000000000000000 0.0000000000000000 2.5000000000000000
+0.5000000000000000 0.0000000000000000 3.5000000000000000
+0.5000000000000000 0.5000000000000000 3.5000000000000000
+0.5000000000000000 0.5000000000000000 2.5000000000000000
+0.5000000000000000 0.5000000000000000 1.5000000000000000
+0.5000000000000000 0.5000000000000000 0.5000000000000000
+CELLS 48 192
+4 22 12 17 13
+4 20 26 21 11
+4 23 8 5 24
+4 11 27 26 19
+4 27 11 26 20
+4 17 22 24 25
+4 7 23 13 6
+4 22 17 24 13
+4 9 25 21 15
+4 24 22 8 14
+4 24 8 22 23
+4 25 9 21 22
+4 23 7 13 24
+4 15 10 16 26
+4 14 25 9 15
+4 25 14 9 22
+4 24 23 22 13
+4 15 10 21 9
+4 15 21 10 26
+4 24 25 22 14
+4 2 11 27 20
+4 7 5 23 6
+4 11 21 12 26
+4 20 1 0 16
+4 18 25 12 17
+4 18 12 25 26
+4 5 7 23 24
+4 26 21 25 15
+4 20 16 27 1
+4 21 25 22 12
+4 20 16 10 26
+4 20 27 16 26
+4 20 10 16 0
+4 11 12 19 26
+4 14 22 8 9
+4 8 23 5 4
+4 24 14 8 5
+4 11 2 27 3
+4 2 27 1 20
+4 12 18 19 26
+4 27 2 1 3
+4 24 13 17 7
+4 20 2 0 1
+4 5 23 6 4
+4 20 10 21 26
+4 12 22 17 25
+4 3 27 11 19
+4 21 26 25 12
+CELL_TYPES 10

data/reduced_beam/reduced_beam.urdf

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot name="reduced_cube">
+  <reduced_deformable name="reduced_beam">
+    <num_modes value="20"/>
+    <mass value="1"/>
+    <stiffness_scale value="100"/>
+    <collision_margin value="0.01"/>
+    <erp value= "0.2"/>
+    <cfm value= "0.2"/>
+    <friction value= "0.5"/>
+    <damping_coefficient value="0.0"/>
+    <visual filename="beam_mesh_origin.vtk"/>
+  </reduced_deformable>
+</robot>

data/reduced_cube/deform_cube.urdf

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot name="cube">
+  <deformable name="cube">
+    <inertial>
+      <mass value="10" />
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+    <collision_margin value="0.006"/>
+    <repulsion_stiffness value="800.0"/>
+    <friction value= "0.5"/>
+    <neohookean mu= "180" lambda= "600" damping= "0.01" />
+    <visual filename="cube_mesh.vtk"/>
+  </deformable>
+</robot>

data/reduced_cube/reduced_cube.urdf

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot name="reduced_cube">
+  <reduced_deformable name="reduced_cube">
+    <num_modes value="20"/>
+    <mass value="10"/>
+    <stiffness_scale value="100"/>
+    <collision_margin value="0.01"/>
+    <erp value= "0.2"/>
+    <cfm value= "0.2"/>
+    <friction value= "0.5"/>
+    <damping_coefficient value="0.0"/>
+    <visual filename="cube_mesh.vtk"/>
+  </reduced_deformable>
+</robot>

data/reduced_torus/reduced_torus.urdf

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot name="reduced_cube">
+  <reduced_deformable name="reduced_cube">
+    <num_modes value="20"/>
+    <mass value="10"/>
+    <stiffness_scale value="10"/>
+    <collision_margin value="0.01"/>
+    <erp value= "0.2"/>
+    <cfm value= "0.2"/>
+    <friction value= "0.5"/>
+    <damping_coefficient value="0.00001"/>
+    <visual filename="torus_textured.obj"/>
+    <collision filename="torus_mesh.vtk"/>
+  </reduced_deformable>
+</robot>

data/stadium.sdf

@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='roboschool/models_outdoor/stadium/part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -34,7 +34,7 @@
 			</model>
 		<model name='roboschool/models_outdoor/stadium/part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -73,7 +73,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>

data/threecubes/newsdf.sdf

@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -42,7 +42,7 @@
 			</model>
 		<model name='part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -81,7 +81,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>

data/two_cubes.sdf

@@ -3,7 +3,7 @@
     <light name='sun' type='directional'>
      <yunfei>99.2</yunfei> 
 	<cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
+      <pose>0 0 10 0 -0 0</pose>
       <diffuse>0.8 0.8 0.8 1</diffuse>
       <specular>0.2 0.2 0.2 1</specular>
       <attenuation>
@@ -87,7 +87,7 @@
     </spherical_coordinates>
     <model name='unit_box_0'>
  <static>1</static>
-      <pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
+      <pose>0.512455 -1.58317 0.5 0 -0 0</pose>
       <link name='unit_box_0::link'>
       
         <inertial>
@@ -142,7 +142,7 @@
       </link>
     </model>
     <model name='unit_box_0_clone'>
-      <pose frame=''>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
+      <pose>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
       <link name='unit_box_0::link'>
         <inertial>
           <mass>1</mass>
@@ -197,42 +197,42 @@
       <wall_time>1462824251 956472000</wall_time>
       <iterations>0</iterations>
       <model name='ground_plane'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
+          <pose>0 0 0 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='unit_box_0'>
-        <pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
+        <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
         <scale>1 1 1</scale>
         <link name='unit_box_0::link'>
-          <pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
+          <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
           <velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
           <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
           <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
         </link>
       </model>
       <model name='unit_box_0_clone'>
-        <pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
+        <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
         <scale>1 1 1</scale>
         <link name='unit_box_0::link'>
-          <pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
+          <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <light name='sun'>
-        <pose frame=''>0 0 10 0 -0 0</pose>
+        <pose>0 0 10 0 -0 0</pose>
       </light>
     </state>
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
+        <pose>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>

examples/Benchmarks/BenchmarkDemo.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/Benchmarks/BenchmarkDemo.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -52,6 +52,8 @@ struct GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid) { return -1; }
 	virtual void replaceTexture(int shapeIndex, int textureUid) {}
 	virtual void removeTexture(int textureUid) {}
+	virtual void setBackgroundColor(const double rgbBackground[3]) {}
+	
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface() = 0;
 
@@ -110,6 +112,7 @@ struct GUIHelperInterface
 
 	virtual int addUserDebugText3D(const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid) { return -1; }
 	virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid) { return -1; };
+	virtual int addUserDebugPoints(const double debugPointPositionXYZ[], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum) { return -1; };
 	virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue) { return -1; };
 	virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0; }
 
@@ -217,6 +220,10 @@ struct DummyGUIHelper : public GUIHelperInterface
 	{
 		return -1;
 	}
+	virtual int addUserDebugPoints(const double debugPointPositionXYZ[3], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum)
+	{
+		return -1;
+	};
 	virtual void removeUserDebugItem(int debugItemUniqueId)
 	{
 	}

examples/CommonInterfaces/CommonRenderInterface.h

@@ -56,6 +56,8 @@ struct CommonRenderInterface
 
 	virtual void setLightPosition(const float lightPos[3]) = 0;
 	virtual void setLightPosition(const double lightPos[3]) = 0;
+	virtual void setBackgroundColor(const double rgbBackground[3]) = 0;
+	
 	virtual void setShadowMapResolution(int shadowMapResolution) = 0;
 	virtual void setShadowMapIntensity(double shadowMapIntensity) = 0;
 	
@@ -78,6 +80,7 @@ struct CommonRenderInterface
 	virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0;
 	virtual void drawPoint(const float* position, const float color[4], float pointDrawSize) = 0;
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize) = 0;
+	virtual void drawPoints(const float* positions, const float* colors, int numPoints, int pointStrideInBytes, float pointDrawSize) = 0;
 	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex = -1, int vertexLayout = 0) = 0;
 
 	virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType = B3_GL_TRIANGLES, int textureIndex = -1) = 0;

examples/Constraints/ConstraintDemo.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2015 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2015 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/Constraints/ConstraintDemo.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/DeformableDemo/DeformableSelfCollision.cpp

@@ -55,7 +55,7 @@ public:
         m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
     }
     
-    void addCloth(btVector3 origin);
+    void addCloth(const btVector3& origin);
     
     virtual void renderScene()
     {
@@ -126,7 +126,7 @@ void DeformableSelfCollision::initPhysics()
     getDeformableDynamicsWorld()->setLineSearch(false);
     m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
 }
-void DeformableSelfCollision::addCloth(btVector3 origin)
+void DeformableSelfCollision::addCloth(const btVector3& origin)
 // create a piece of cloth
 {
     const btScalar s = 0.6;

examples/DeformableDemo/LoadDeformed.cpp

@@ -0,0 +1,405 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "LoadDeformed.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
+#include <iostream>
+#include <iomanip> 
+#include <sstream>
+#include <string.h>
+
+struct CustomSoftBodyHelper : public btSoftBodyHelpers
+{
+	static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
+	
+};
+
+static inline bool isSpace(const char c)
+{
+	return (c == ' ') || (c == '\t');
+}
+static inline bool isNewLine(const char c)
+{
+	return (c == '\r') || (c == '\n') || (c == '\0');
+}
+static inline float parseFloat(const char*& token)
+{
+	token += strspn(token, " \t");
+	float f = (float)atof(token);
+	token += strcspn(token, " \t\r");
+	return f;
+}
+static inline void parseFloat3(
+	float& x, float& y, float& z,
+	const char*& token)
+{
+	x = parseFloat(token);
+	y = parseFloat(token);
+	z = parseFloat(token);
+}
+
+
+std::string CustomSoftBodyHelper::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
+{
+	{
+		qs.clear();
+		vs.clear();
+		std::string tmp = filename;
+		std::stringstream err;
+#ifdef USE_STREAM
+		std::ifstream ifs(filename);
+		if (!ifs)
+		{
+			err << "Cannot open file [" << filename << "]" << std::endl;
+			return err.str();
+		}
+#else
+		int fileHandle = fileIO->fileOpen(filename, "r");
+		if (fileHandle < 0)
+		{
+			err << "Cannot open file [" << filename << "]" << std::endl;
+			return err.str();
+		}
+#endif
+
+		std::string name;
+
+		int maxchars = 8192;              // Alloc enough size.
+		std::vector<char> buf(maxchars);  // Alloc enough size.
+		std::string linebuf;
+		linebuf.reserve(maxchars);
+
+#ifdef USE_STREAM
+		while (ifs.peek() != -1)
+#else
+		char* line = 0;
+		do
+#endif
+		{
+			linebuf.resize(0);
+#ifdef USE_STREAM
+			safeGetline(ifs, linebuf);
+#else
+			char tmpBuf[1024];
+			line = fileIO->readLine(fileHandle, tmpBuf, 1024);
+			if (line)
+			{
+				linebuf = line;
+			}
+#endif
+			// Trim newline '\r\n' or '\r'
+			if (linebuf.size() > 0)
+			{
+				if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+			}
+			if (linebuf.size() > 0)
+			{
+				if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+			}
+
+			// Skip if empty line.
+			if (linebuf.empty())
+			{
+				continue;
+			}
+
+			// Skip leading space.
+			const char* token = linebuf.c_str();
+			token += strspn(token, " \t");
+
+			btAssert(token);
+			if (token[0] == '\0') continue;  // empty line
+
+			if (token[0] == '#') continue;  // comment line
+
+			// q
+			if (token[0] == 'q' && isSpace((token[1])))
+			{
+				token += 2;
+				float x, y, z;
+				parseFloat3(x, y, z, token);
+				qs.push_back(btVector3(x, y, z));
+				continue;
+			}
+
+			// v
+			if (token[0] == 'v' && isSpace((token[1])))
+			{
+				token += 3;
+				float x, y, z;
+				parseFloat3(x, y, z, token);
+				vs.push_back(btVector3(x, y, z));
+				continue;
+			}
+
+			// Ignore unknown command.
+		}
+#ifndef USE_STREAM
+		while (line)
+			;
+#endif
+
+		if (fileHandle >= 0)
+		{
+			fileIO->fileClose(fileHandle);
+		}
+		return err.str();
+	}
+}
+
+
+class LoadDeformed : public CommonDeformableBodyBase
+{
+	int steps;
+	btSoftBody* psb;
+	char filename;
+	int reset_frame;
+	float sim_time;
+
+public:
+	LoadDeformed(struct GUIHelperInterface* helper)
+		: CommonDeformableBodyBase(helper)
+	{
+		steps = 0;
+		psb = nullptr;
+		reset_frame = 0;
+		sim_time = 0;
+	}
+	virtual ~LoadDeformed()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+		float dist = 2;
+		float pitch = -45;
+		float yaw = 100;
+		float targetPos[3] = {0, 0, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+
+	void stepSimulation(float deltaTime)
+	{
+		steps++;
+		sim_time += deltaTime;
+		////        int seconds = 1/deltaTime;
+		if (0)
+		{
+			//        if (reset_frame==0 && steps<100){
+			////            printf("steps %d, seconds %d, steps/seconds %d\n", steps,seconds,steps/seconds);
+			char filename[100];
+			sprintf(filename, "%s_%d_%d.txt", "states", reset_frame, steps);
+			btSoftBodyHelpers::writeState(filename, psb);
+		}
+		if (sim_time + reset_frame * 0.05 >= 5) exit(0);
+		float internalTimeStep = 1. / 240.f;
+		//        float internalTimeStep = 0.1f;
+		m_dynamicsWorld->stepSimulation(deltaTime, deltaTime / internalTimeStep, internalTimeStep);
+	}
+
+	void addCloth(const btVector3& origin);
+
+	virtual void renderScene()
+	{
+		CommonDeformableBodyBase::renderScene();
+		btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+
+		for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+		{
+			btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+			{
+				btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+			}
+		}
+	}
+};
+
+void LoadDeformed::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+	m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+	btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+	sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+	btVector3 gravity = btVector3(0, -9.8, 0);
+	m_dynamicsWorld->setGravity(gravity);
+	getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	{
+		///create a ground
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
+		groundShape->setMargin(0.02);
+		m_collisionShapes.push_back(groundShape);
+
+		btTransform groundTransform;
+		groundTransform.setIdentity();
+		groundTransform.setOrigin(btVector3(0, -3.5, 0));
+		groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+		btScalar mass(0.);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0, 0, 0);
+		if (isDynamic)
+			groundShape->calculateLocalInertia(mass, localInertia);
+
+		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+		body->setFriction(4);
+
+		//add the ground to the dynamics world
+		m_dynamicsWorld->addRigidBody(body);
+	}
+	addCloth(btVector3(0, 1, 0));
+	getDeformableDynamicsWorld()->setImplicit(false);
+	getDeformableDynamicsWorld()->setLineSearch(false);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void LoadDeformed::addCloth(const btVector3& origin)
+// create a piece of cloth
+{
+	const btScalar s = 0.6;
+	const btScalar h = 0;
+
+	psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2 * s),
+										 btVector3(+s, h, -2 * s),
+										 btVector3(-s, h, +2 * s),
+										 btVector3(+s, h, +2 * s),
+										 15, 30,
+										 0, true, 0.0);
+
+	psb->getCollisionShape()->setMargin(0.02);
+	psb->generateBendingConstraints(2);
+	psb->setTotalMass(.5);
+	psb->m_cfg.kKHR = 1;  // collision hardness with kinematic objects
+	psb->m_cfg.kCHR = 1;  // collision hardness with rigid body
+	psb->m_cfg.kDF = 0.1;
+	psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
+	btTransform clothTransform;
+	clothTransform.setIdentity();
+	clothTransform.setOrigin(btVector3(0, 0.2, 0) + origin);
+	psb->transform(clothTransform);
+
+	b3BulletDefaultFileIO fileio;
+	char absolute_path[1024];
+	char filename[100];
+	sprintf(filename, "/Users/fuchuyuan/Documents/mybullet/build_cmake/examples/ExampleBrowser/states_0_%d.txt", reset_frame);
+	fileio.findResourcePath(filename, absolute_path, 1024);
+	btAlignedObjectArray<btVector3> qs;
+	btAlignedObjectArray<btVector3> vs;
+	CustomSoftBodyHelper::loadDeformableState(qs, vs, absolute_path, &fileio);
+	if (reset_frame > 0)
+		psb->updateState(qs, vs);
+	psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+	psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
+	psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
+	//    psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+	psb->setCollisionFlags(0);
+	psb->setCacheBarycenter(true);
+	getDeformableDynamicsWorld()->addSoftBody(psb);
+	psb->setSelfCollision(false);
+
+	btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.2, true);
+	psb->setSpringStiffness(4);
+	getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+	m_forces.push_back(mass_spring);
+	btVector3 gravity = btVector3(0, -9.8, 0);
+	btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
+	getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+	//    getDeformableDynamicsWorld()->setUseProjection(true);
+	m_forces.push_back(gravity_force);
+}
+
+void LoadDeformed::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+	removePickingConstraint();
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+	// delete forces
+	for (int j = 0; j < m_forces.size(); j++)
+	{
+		btDeformableLagrangianForce* force = m_forces[j];
+		delete force;
+	}
+	m_forces.clear();
+
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+class CommonExampleInterface* LoadDeformedCreateFunc(struct CommonExampleOptions& options)
+{
+	return new LoadDeformed(options.m_guiHelper);
+}

examples/DeformableDemo/LoadDeformed.h

@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _LOAD_DEFORMED_H
+#define _LOAD_DEFORMED_H
+
+class CommonExampleInterface* LoadDeformedCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_LOAD_DEFORMED_H

examples/ExampleBrowser/CMakeLists.txt

@@ -284,7 +284,7 @@ SET(BulletExampleBrowser_SRCS
 	../Benchmarks/BenchmarkDemo.cpp
 	../Benchmarks/BenchmarkDemo.h
 	../Benchmarks/landscapeData.h
-	../Benchmarks/TaruData
+	../Benchmarks/TaruData.h
 	../Raycast/RaytestDemo.cpp
 		../Importers/ImportBsp/BspConverter.h
  	../Importers/ImportBullet/SerializeSetup.cpp
@@ -379,6 +379,8 @@ SET(BulletExampleBrowser_SRCS
   ../DeformableDemo/Collide.cpp
   ../DeformableDemo/Collide.h
   ../DeformableDemo/LargeDeformation.cpp
+  ../DeformableDemo/LoadDeformed.h
+  ../DeformableDemo/LoadDeformed.cpp
   ../DeformableDemo/LargeDeformation.h
   ../DeformableDemo/DeformableClothAnchor.cpp
   ../DeformableDemo/DeformableClothAnchor.h
@@ -388,6 +390,24 @@ SET(BulletExampleBrowser_SRCS
   ../MultiBody/MultiDofDemo.h
   ../RigidBody/RigidBodySoftContact.cpp
   ../RigidBody/KinematicRigidBodyExample.cpp
+	../ReducedDeformableDemo/ConservationTest.cpp
+	../ReducedDeformableDemo/ConservationTest.h
+	../ReducedDeformableDemo/Springboard.cpp
+	../ReducedDeformableDemo/Springboard.h
+	../ReducedDeformableDemo/ModeVisualizer.cpp
+	../ReducedDeformableDemo/ModeVisualizer.h
+	../ReducedDeformableDemo/FreeFall.cpp
+	../ReducedDeformableDemo/FreeFall.h
+	../ReducedDeformableDemo/FrictionSlope.cpp
+	../ReducedDeformableDemo/FrictionSlope.h
+	../ReducedDeformableDemo/ReducedCollide.cpp
+	../ReducedDeformableDemo/ReducedCollide.h
+	../ReducedDeformableDemo/ReducedGrasp.cpp
+	../ReducedDeformableDemo/ReducedGrasp.h
+	../ReducedDeformableDemo/ReducedBenchmark.cpp
+	../ReducedDeformableDemo/ReducedBenchmark.h
+	../ReducedDeformableDemo/ReducedMotorGrasp.cpp
+	../ReducedDeformableDemo/ReducedMotorGrasp.h
   ../Constraints/TestHingeTorque.cpp
   ../Constraints/TestHingeTorque.h
   ../Constraints/ConstraintDemo.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -55,6 +55,7 @@
 #include "../DeformableDemo/DeformableMultibody.h"
 #include "../DeformableDemo/VolumetricDeformable.h"
 #include "../DeformableDemo/LargeDeformation.h"
+#include "../DeformableDemo/LoadDeformed.h"
 #include "../DeformableDemo/Collide.h"
 #include "../DeformableDemo/GraspDeformable.h"
 #include "../DeformableDemo/DeformableContact.h"
@@ -72,6 +73,15 @@
 #include "../RoboticsLearning/R2D2GraspExample.h"
 #include "../RoboticsLearning/KukaGraspExample.h"
 #include "../RoboticsLearning/GripperGraspExample.h"
+#include "../ReducedDeformableDemo/ConservationTest.h"
+#include "../ReducedDeformableDemo/ModeVisualizer.h"
+#include "../ReducedDeformableDemo/Springboard.h"
+#include "../ReducedDeformableDemo/FreeFall.h"
+#include "../ReducedDeformableDemo/FrictionSlope.h"
+#include "../ReducedDeformableDemo/ReducedCollide.h"
+#include "../ReducedDeformableDemo/ReducedGrasp.h"
+#include "../ReducedDeformableDemo/ReducedMotorGrasp.h"
+#include "../ReducedDeformableDemo/ReducedBenchmark.h"
 #include "../InverseKinematics/InverseKinematicsExample.h"
 
 #ifdef B3_ENABLE_TINY_AUDIO
@@ -209,11 +219,24 @@ static ExampleEntry gDefaultExamples[] =
         ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc),
         ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
 		ExampleEntry(1, "Extreme Deformation", "Recovery from extreme deformation", LargeDeformationCreateFunc),
+        ExampleEntry(1, "Load Deformed", "Reconstruct a deformed object", LoadDeformedCreateFunc),
 		ExampleEntry(1, "Colliding Test", "Volumetric deformable collide with rigid box", CollideCreateFunc),
         ExampleEntry(1, "Rigid Cloth Anchor", "Deformable Rigid body Anchor test", DeformableClothAnchorCreateFunc),
         ExampleEntry(1, "Multibody Cloth Anchor", "Deformable Multibody Anchor test", MultibodyClothAnchorCreateFunc),
         ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc),
         // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),
+		
+		ExampleEntry(0, "Reduced Deformabe Body"),
+		ExampleEntry(1, "Mode Visualizer", "Visualizer the modes for reduced deformable objects", ReducedModeVisualizerCreateFunc),
+		ExampleEntry(1, "Reduced Conservation Test", "Momentum conservation test for the reduced deformable objects", ReducedConservationTestCreateFunc),
+		ExampleEntry(1, "Reduced Springboard", "Moving rigid object colliding with a fixed reduced deformable objects", ReducedSpringboardCreateFunc),
+		ExampleEntry(1, "Reduced Free Fall", "Free fall ground contact test for the reduced deformable model", ReducedFreeFallCreateFunc),
+		ExampleEntry(1, "Reduced Collision Test", "Collision between a reduced block and the a rigid block", ReducedCollideCreateFunc),
+		ExampleEntry(1, "Reduced Grasp", "Grasp a reduced deformable block", ReducedGraspCreateFunc),
+		ExampleEntry(1, "Reduced Motor Grasp", "Grasp a reduced deformable block with motor", ReducedMotorGraspCreateFunc),
+		ExampleEntry(1, "Reduced Friction Slope", "Grasp a reduced deformable block", FrictionSlopeCreateFunc),
+		ExampleEntry(1, "Reduced Benchmark", "Reduced deformable performance benchmark example", ReducedBenchmarkCreateFunc),
+		// ExampleEntry(1, "Simple Reduced Deformable Test", "Simple dynamics test for the reduced deformable objects", ReducedBasicTestCreateFunc),
         
 #ifdef INCLUDE_CLOTH_DEMOS
 		ExampleEntry(0, "Soft Body"),

examples/ExampleBrowser/GL_ShapeDrawer.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/ExampleBrowser/GL_ShapeDrawer.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp

@@ -1,7 +1,11 @@
 #include "GwenParameterInterface.h"
 #include "gwenInternalData.h"
 #include <cstring>
-
+#ifdef _WIN32 
+#define safe_printf _snprintf
+#else
+#define safe_printf snprintf
+#endif
 struct MyButtonEventHandler : public Gwen::Event::Handler
 {
 	Gwen::Controls::Button* m_buttonControl;
@@ -85,7 +89,7 @@ struct MySliderEventHandler : public Gwen::Event::Handler
 		if (m_showValue)
 		{
 			char txt[1024];
-			snprintf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
+			safe_printf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
 			m_label->SetText(txt);
 		}
 	}
@@ -231,7 +235,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
 	}
 	pSlider->SetValue(*params.m_paramValuePointer);  //dimensions[i] );
 	char labelName[1024];
-	snprintf(labelName, sizeof(labelName), "%s", params.m_name);  //axisNames[0]);
+	safe_printf(labelName, sizeof(labelName), "%s", params.m_name);  //axisNames[0]);
 	MySliderEventHandler<btScalar>* handler = new MySliderEventHandler<btScalar>(labelName, label, pSlider, params.m_paramValuePointer, params.m_callback, params.m_userPointer);
 	handler->m_showValue = params.m_showValues;
 	m_paramInternalData->m_sliderEventHandlers.push_back(handler);

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -885,6 +885,20 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	sUseOpenGL2 = args.CheckCmdLineFlag("opengl2");
 	args.GetCmdLineArgument("render_device", gRenderDevice);
 	args.GetCmdLineArgument("window_backend", gWindowBackend);
+
+	int max_num_object_capacity = 128 * 1024;
+	int max_shape_capacity_in_bytes = 128 * 1024 * 1024;
+	if (args.CheckCmdLineFlag("max_num_object_capacity"))
+	{
+		args.GetCmdLineArgument("max_num_object_capacity", max_num_object_capacity);
+	}
+
+	if (args.CheckCmdLineFlag("max_shape_capacity_in_bytes"))
+	{
+		args.GetCmdLineArgument("max_shape_capacity_in_bytes", max_shape_capacity_in_bytes);
+	}
+
+
 #else
 	sUseOpenGL2 = true;
 #endif
@@ -914,7 +928,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	{
 		char title[1024];
 		sprintf(title, "%s using OpenGL3+ %s %s", appTitle, glContext, optMode);
-		simpleApp = new SimpleOpenGL3App(title, width, height, gAllowRetina, gWindowBackend, gRenderDevice);
+		simpleApp = new SimpleOpenGL3App(title, width, height, gAllowRetina, gWindowBackend, gRenderDevice, max_num_object_capacity, max_shape_capacity_in_bytes);
 		s_app = simpleApp;
 	}
 #endif

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -236,13 +236,19 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 	m_data->m_debugDraw = 0;
 }
 
-OpenGLGuiHelper::~OpenGLGuiHelper()
+
+	OpenGLGuiHelper::~OpenGLGuiHelper()
 {
 	delete m_data->m_debugDraw;
 
 	delete m_data;
 }
 
+void OpenGLGuiHelper::setBackgroundColor(const double rgbBackground[3])
+{
+	this->getRenderInterface()->setBackgroundColor(rgbBackground);
+}
+
 struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
 {
 	return m_data->m_glApp->m_renderer;

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -36,7 +36,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid);
 	virtual void replaceTexture(int shapeIndex, int textureUid);
 	virtual void updateShape(int shapeIndex, float* vertices, int numVertices);
-
+	virtual void setBackgroundColor(const double rgbBackground[3]);
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

examples/ExampleBrowser/premake4.lua

@@ -182,6 +182,7 @@ project "App_BulletExampleBrowser"
 		"../VoronoiFracture/*",
 		"../SoftDemo/*",
 		"../DeformableDemo/*",
+                "../ReducedDeformableDemo/*",
 		"../RollingFrictionDemo/*",
 		"../rbdl/*",
 		"../FractureDemo/*",

examples/ExtendedTutorials/CompoundBoxes.cpp

@@ -101,7 +101,7 @@ void CompoundBoxesExample::initPhysics()
 #else
 		// recompute the shift to make sure the compound shape is re-aligned
 		for (int i = 0; i < compoundShape->getNumChildShapes(); i++)
-			compound2->addChildShape(compoundShape->getChildTransform(i) * principal.inverse(),
+			compound2->addChildShape(principal.inverse() * compoundShape->getChildTransform(i),
 									 compoundShape->getChildShape(i));
 #endif
 		delete compoundShape;

examples/ForkLift/ForkLiftDemo.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/ForkLift/ForkLiftDemo.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/FractureDemo/FractureDemo.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2011 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2011 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/FractureDemo/FractureDemo.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/HelloWorld/HelloWorld.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2007 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/Importers/ImportBsp/BspConverter.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/Importers/ImportBsp/BspConverter.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/Importers/ImportBsp/ImportBspExample.cpp

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/Importers/ImportBsp/ImportBspExample.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -2273,7 +2273,7 @@ int BulletMJCFImporter::getBodyUniqueId() const
 	return m_data->m_activeBodyUniqueId;
 }
 
-static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
+static btCollisionShape* MjcfCreateConvexHullFromShapes(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
 {
 	btCompoundShape* compound = new btCompoundShape();
 	compound->setMargin(collisionMargin);
@@ -2285,7 +2285,7 @@ static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t&
 	{
 		btConvexHullShape* convexHull = new btConvexHullShape();
 		convexHull->setMargin(collisionMargin);
-		tinyobj::shape_t& shape = shapes[s];
+		bt_tinyobj::shape_t& shape = shapes[s];
 
 		int faceCount = shape.mesh.indices.size();
 
@@ -2399,9 +2399,9 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 							}
 							else
 							{
-								std::vector<tinyobj::shape_t> shapes;
-								tinyobj::attrib_t attribute;
-								std::string err = tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
+								std::vector<bt_tinyobj::shape_t> shapes;
+								bt_tinyobj::attrib_t attribute;
+								std::string err = bt_tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
 								//create a convex hull for each shape, and store it in a btCompoundShape
 
 								childShape = MjcfCreateConvexHullFromShapes(attribute, shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -64,8 +64,8 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 		btVector3 shift(0, 0, 0);
 
-		std::vector<tinyobj::shape_t> shapes;
-		tinyobj::attrib_t attribute;
+		std::vector<bt_tinyobj::shape_t> shapes;
+		bt_tinyobj::attrib_t attribute;
 		{
 			B3_PROFILE("tinyobj::LoadObj");
 			std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, pathPrefix, fileIO);
@@ -79,7 +79,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 			//try to load some texture
 			for (int i = 0; meshData.m_textureImage1 == 0 && i < shapes.size(); i++)
 			{
-				const tinyobj::shape_t& shape = shapes[i];
+				const bt_tinyobj::shape_t& shape = shapes[i];
 				meshData.m_rgbaColor[0] = shape.material.diffuse[0];
 				meshData.m_rgbaColor[1] = shape.material.diffuse[1];
 				meshData.m_rgbaColor[2] = shape.material.diffuse[2];

examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp

@@ -11,8 +11,8 @@
 struct CachedObjResult
 {
 	std::string m_msg;
-	std::vector<tinyobj::shape_t> m_shapes;
-	tinyobj::attrib_t m_attribute;
+	std::vector<bt_tinyobj::shape_t> m_shapes;
+	bt_tinyobj::attrib_t m_attribute;
 };
 
 static b3HashMap<b3HashString, CachedObjResult> gCachedObjResults;
@@ -32,8 +32,8 @@ void b3EnableFileCaching(int enable)
 }
 
 std::string LoadFromCachedOrFromObj(
-	tinyobj::attrib_t& attribute,
-	std::vector<tinyobj::shape_t>& shapes,  // [output]
+	bt_tinyobj::attrib_t& attribute,
+	std::vector<bt_tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
 	const char* mtl_basepath,
 	struct CommonFileIOInterface* fileIO)
@@ -47,7 +47,7 @@ std::string LoadFromCachedOrFromObj(
 		return result.m_msg;
 	}
 
-	std::string err = tinyobj::LoadObj(attribute, shapes, filename, mtl_basepath, fileIO);
+	std::string err = bt_tinyobj::LoadObj(attribute, shapes, filename, mtl_basepath, fileIO);
 	CachedObjResult result;
 	result.m_msg = err;
 	result.m_shapes = shapes;
@@ -62,10 +62,10 @@ std::string LoadFromCachedOrFromObj(
 GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath, struct CommonFileIOInterface* fileIO)
 {
 	B3_PROFILE("LoadMeshFromObj");
-	std::vector<tinyobj::shape_t> shapes;
-	tinyobj::attrib_t attribute;
+	std::vector<bt_tinyobj::shape_t> shapes;
+	bt_tinyobj::attrib_t attribute;
 	{
-		B3_PROFILE("tinyobj::LoadObj2");
+		B3_PROFILE("bt_tinyobj::LoadObj2");
 		std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, materialPrefixPath, fileIO);
 	}
 

examples/Importers/ImportObjDemo/LoadMeshFromObj.h

@@ -9,8 +9,8 @@ int b3IsFileCachingEnabled();
 void b3EnableFileCaching(int enable);
 
 std::string LoadFromCachedOrFromObj(
-	tinyobj::attrib_t& attribute,
-	std::vector<tinyobj::shape_t>& shapes,  // [output]
+	bt_tinyobj::attrib_t& attribute,
+	std::vector<bt_tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
 	const char* mtl_basepath,
 	struct CommonFileIOInterface* fileIO);

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

@@ -9,7 +9,7 @@
 #include "../../OpenGLWindow/GLInstancingRenderer.h"
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
 
-GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading)
+GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, bool flatShading)
 {
 	b3AlignedObjectArray<GLInstanceVertex>* vertices = new b3AlignedObjectArray<GLInstanceVertex>;
 	{
@@ -19,7 +19,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 
 		for (int s = 0; s < (int)shapes.size(); s++)
 		{
-			tinyobj::shape_t& shape = shapes[s];
+			bt_tinyobj::shape_t& shape = shapes[s];
 			int faceCount = shape.mesh.indices.size();
 
 			for (int f = 0; f < faceCount; f += 3)
@@ -36,7 +36,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 					}
 
 					GLInstanceVertex vtx0;
-					tinyobj::index_t v_0 = shape.mesh.indices[f];
+					bt_tinyobj::index_t v_0 = shape.mesh.indices[f];
 					vtx0.xyzw[0] = attribute.vertices[3 * v_0.vertex_index];
 					vtx0.xyzw[1] = attribute.vertices[3 * v_0.vertex_index + 1];
 					vtx0.xyzw[2] = attribute.vertices[3 * v_0.vertex_index + 2];
@@ -65,7 +65,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 					}
 
 					GLInstanceVertex vtx1;
-					tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
+					bt_tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
 					vtx1.xyzw[0] = attribute.vertices[3 * v_1.vertex_index];
 					vtx1.xyzw[1] = attribute.vertices[3 * v_1.vertex_index + 1];
 					vtx1.xyzw[2] = attribute.vertices[3 * v_1.vertex_index + 2];
@@ -94,7 +94,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 					}
 
 					GLInstanceVertex vtx2;
-					tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
+					bt_tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
 					vtx2.xyzw[0] = attribute.vertices[3 * v_2.vertex_index];
 					vtx2.xyzw[1] = attribute.vertices[3 * v_2.vertex_index + 1];
 					vtx2.xyzw[2] = attribute.vertices[3 * v_2.vertex_index + 2];

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h

@@ -4,6 +4,6 @@
 #include "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
 #include <vector>
 
-struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading = false);
+struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, bool flatShading = false);
 
 #endif  //WAVEFRONT2GRAPHICS_H

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -483,6 +483,12 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass, btVect
 }
 
 bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
+{
+	btScalar twistLimit;
+	return getJointInfo3(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity, twistLimit);
+}
+
+bool BulletURDFImporter::getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const
 {
 	jointLowerLimit = 0.f;
 	jointUpperLimit = 0.f;
@@ -510,6 +516,7 @@ bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2jo
 			jointFriction = pj->m_jointFriction;
 			jointMaxForce = pj->m_effortLimit;
 			jointMaxVelocity = pj->m_velocityLimit;
+			twistLimit = pj->m_twistLimit;
 			return true;
 		}
 		else
@@ -540,7 +547,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
 	return true;
 }
 
-static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
+static btCollisionShape* createConvexHullFromShapes(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
 {
 	B3_PROFILE("createConvexHullFromShapes");
 	btCompoundShape* compound = new btCompoundShape();
@@ -553,7 +560,7 @@ static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& att
 	{
 		btConvexHullShape* convexHull = new btConvexHullShape();
 		convexHull->setMargin(gUrdfDefaultCollisionMargin);
-		tinyobj::shape_t& shape = shapes[s];
+		bt_tinyobj::shape_t& shape = shapes[s];
 		int faceCount = shape.mesh.indices.size();
 
 		for (int f = 0; f < faceCount; f += 3)
@@ -747,9 +754,9 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					}
 					else
 					{
-						std::vector<tinyobj::shape_t> shapes;
-						tinyobj::attrib_t attribute;
-						std::string err = tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
+						std::vector<bt_tinyobj::shape_t> shapes;
+						bt_tinyobj::attrib_t attribute;
+						std::string err = bt_tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
 						//create a convex hull for each shape, and store it in a btCompoundShape
 						shape = createConvexHullFromShapes(attribute, shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
 						m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision);
@@ -1534,3 +1541,8 @@ const struct UrdfDeformable& BulletURDFImporter::getDeformableModel() const
 {
 	return m_data->m_urdfParser.getDeformable();
 }
+
+const struct UrdfReducedDeformable& BulletURDFImporter::getReducedDeformableModel() const
+{
+	return m_data->m_urdfParser.getReducedDeformable();
+}

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -60,6 +60,7 @@ public:
 
 	virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
 	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
+	virtual bool getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const;
 
 	virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
 	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
@@ -92,6 +93,7 @@ public:
 	virtual void setEnableTinyRenderer(bool enable);
 	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const;
 	const struct UrdfDeformable& getDeformableModel() const;
+	const struct UrdfReducedDeformable& getReducedDeformableModel() const;
 };
 
 #endif  //BULLET_URDF_IMPORTER_H

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -33,6 +33,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
 {
 	btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
 	rbci.m_startWorldTransform = initialWorldTrans;
+	btScalar sleep_threshold = btScalar(0.22360679775);//sqrt(0.05) to be similar to btMultiBody (SLEEP_THRESHOLD)
+	rbci.m_angularSleepingThreshold = sleep_threshold;
+	rbci.m_linearSleepingThreshold = sleep_threshold;
+	
 	btRigidBody* body = new btRigidBody(rbci);
 	if (m_rigidBody == 0)
 	{

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -10,6 +10,9 @@
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
+#include "BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.h"
+
+
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
 #include "URDF2Bullet.h"
 #include "URDFImporterInterface.h"
@@ -199,7 +202,15 @@ btScalar tmpUrdfScaling = 2;
 btTransform ConvertURDF2BulletInternal(
 	const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
 	URDF2BulletCachedData& cache, int urdfLinkIndex,
-	const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
+	const btTransform& parentTransformInWorldSpace, 
+	
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btDiscreteDynamicsWorld* world1,
+#else
+	btMultiBodyDynamicsWorld* world1,
+#endif
+
+
 	bool createMultiBody, const char* pathPrefix,
 	int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut, bool recursive)
 {
@@ -251,8 +262,8 @@ btTransform ConvertURDF2BulletInternal(
 	btScalar jointFriction;
 	btScalar jointMaxForce;
 	btScalar jointMaxVelocity;
-
-	bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
+	btScalar twistLimit;
+	bool hasParentJoint = u2b.getJointInfo3(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity, twistLimit);
 	std::string linkName = u2b.getLinkName(urdfLinkIndex);
 
 	if (flags & CUF_USE_SDF)
@@ -414,6 +425,20 @@ btTransform ConvertURDF2BulletInternal(
 						cache.m_bulletMultiBody->setupSpherical(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
 							parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin(),
 							disableParentCollision);
+
+
+						//create a spherical joint limit, swing_x,. swing_y and twist
+						//jointLowerLimit <= jointUpperLimit)
+						if (jointUpperLimit > 0 && jointLowerLimit> 0 && twistLimit > 0 && jointMaxForce>0)
+						{
+							btMultiBodySphericalJointLimit* con = new btMultiBodySphericalJointLimit(cache.m_bulletMultiBody, mbLinkIndex, 
+								jointLowerLimit,
+								jointUpperLimit,
+								twistLimit,
+								jointMaxForce);
+							world1->addMultiBodyConstraint(con);
+						}
+
 					}
 					else
 					{
@@ -505,6 +530,7 @@ btTransform ConvertURDF2BulletInternal(
 					creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
 					if (createMultiBody)
 					{
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 						cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
 															   parentRotToThis, quatRotate(offsetInB.getRotation(), 
 																   jointAxisInJointSpace), 
@@ -519,8 +545,10 @@ btTransform ConvertURDF2BulletInternal(
 							btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
 							world1->addMultiBodyConstraint(con);
 						}
+#endif
 					}
 					else
+
 					{
 						btGeneric6DofSpring2Constraint* dof6 = 0;
 						if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
@@ -560,6 +588,7 @@ btTransform ConvertURDF2BulletInternal(
 
 					if (createMultiBody)
 					{
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 						cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
 																parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(),  //parent2joint.getOrigin(),
 																-offsetInB.getOrigin(),
@@ -574,6 +603,7 @@ btTransform ConvertURDF2BulletInternal(
 							world1->addMultiBodyConstraint(con);
 						}
 						//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
+#endif
 					}
 					else
 					{
@@ -775,10 +805,18 @@ bool MyIntCompareFunc(childParentIndex a, childParentIndex b)
 }
 
 
+	
+
+
 void ConvertURDF2Bullet(
 	const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
 	const btTransform& rootTransformInWorldSpace,
+
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btDiscreteDynamicsWorld* world1,
+#else
 	btMultiBodyDynamicsWorld* world1,
+#endif
 	bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
 {
 	URDF2BulletCachedData cache;
@@ -829,7 +867,7 @@ void ConvertURDF2Bullet(
 	{
 		*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
 	}
-
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 	if (world1 && cache.m_bulletMultiBody)
 	{
 		B3_PROFILE("Post process");
@@ -855,4 +893,5 @@ void ConvertURDF2Bullet(
 
 		world1->addMultiBody(mb);
 	}
+	#endif
 }

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -8,6 +8,7 @@
 class btVector3;
 class btTransform;
 class btMultiBodyDynamicsWorld;
+class btDiscreteDynamicsWorld;
 class btTransform;
 
 class URDFImporterInterface;
@@ -20,7 +21,18 @@ struct UrdfVisualShapeCache
 	btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
 	btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
 };
+//#define USE_DISCRETE_DYNAMICS_WORLD
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
+						MultiBodyCreationInterface& creationCallback,
+						const btTransform& rootTransformInWorldSpace,
+						btDiscreteDynamicsWorld* world,
+						bool createMultiBody,
+						const char* pathPrefix,
+						int flags = 0,
+						UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
 
+#else
 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
 						MultiBodyCreationInterface& creationCallback,
 						const btTransform& rootTransformInWorldSpace,
@@ -29,5 +41,5 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
 						const char* pathPrefix,
 						int flags = 0,
 						UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
-
+#endif
 #endif  //_URDF2BULLET_H

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -64,6 +64,13 @@ public:
 		return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
 	};
 
+	virtual bool getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const
+	{
+		//backwards compatibility for custom file importers
+		twistLimit = 0;
+		return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
+	};
+
 	virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const = 0;
 	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld) {}
 

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -94,7 +94,8 @@ static void ParseUserData(const XMLElement* element, btHashMap<btHashString,
 			if (!key_attr) {
 				logger->reportError("User data tag must have a key attribute.");
 			}
-			user_data.insert(key_attr, user_data_xml->GetText());
+			const char* text = user_data_xml->GetText();
+			user_data.insert(key_attr, text ? text : "");
 		}
 	}
 }
@@ -1281,6 +1282,171 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
 	return true;
 }
 
+bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger)
+{
+	UrdfReducedDeformable& reduced_deformable = model.m_reducedDeformable;
+	const char* name = config->Attribute("name");
+	if (!name)
+	{
+		logger->reportError("Reduced deformable with no name");
+		return false;
+	}
+	reduced_deformable.m_name = name;
+
+	{
+		XMLElement* numModes_xml = config->FirstChildElement("num_modes");
+		if (numModes_xml)
+		{
+			if (!numModes_xml->Attribute("value"))
+			{
+				logger->reportError("numModes_xml element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_numModes = urdfLexicalCast<double>(numModes_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* mass_xml = config->FirstChildElement("mass");
+		if (mass_xml)
+		{
+			if (!mass_xml->Attribute("value"))
+			{
+				logger->reportError("mass_xml element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* stiffnessScale_xml = config->FirstChildElement("stiffness_scale");
+		if (stiffnessScale_xml)
+		{
+			if (!stiffnessScale_xml->Attribute("value"))
+			{
+				logger->reportError("stiffnessScale_xml element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_stiffnessScale = urdfLexicalCast<double>(stiffnessScale_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* collisionMargin_xml = config->FirstChildElement("collision_margin");
+		if (collisionMargin_xml)
+		{
+			if (!collisionMargin_xml->Attribute("value"))
+			{
+				logger->reportError("collision_margin element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_collisionMargin = urdfLexicalCast<double>(collisionMargin_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* erp_xml = config->FirstChildElement("erp");
+		if (erp_xml)
+		{
+			if (!erp_xml->Attribute("value"))
+			{
+				logger->reportError("friction element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_erp = urdfLexicalCast<double>(erp_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* cfm_xml = config->FirstChildElement("cfm");
+		if (cfm_xml)
+		{
+			if (!cfm_xml->Attribute("value"))
+			{
+				logger->reportError("cfm element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_cfm = urdfLexicalCast<double>(cfm_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* damping_xml = config->FirstChildElement("damping_coefficient");
+		if (damping_xml)
+		{
+			if (!damping_xml->Attribute("value"))
+			{
+				logger->reportError("damping_coefficient element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_damping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* friction_xml = config->FirstChildElement("friction");
+		if (friction_xml)
+		{
+			if (!friction_xml->Attribute("value"))
+			{
+				logger->reportError("friction element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_friction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
+		}
+	}
+
+	XMLElement* vis_xml = config->FirstChildElement("visual");
+	if (!vis_xml)
+	{
+		logger->reportError("expected an visual element");
+		return false;
+	}
+	if (!vis_xml->Attribute("filename"))
+	{
+		logger->reportError("expected a filename for visual geometry");
+		return false;
+	}
+	std::string fn = vis_xml->Attribute("filename");
+	reduced_deformable.m_visualFileName = fn;
+
+	int out_type(0);
+	bool success = UrdfFindMeshFile(m_fileIO,
+									model.m_sourceFile, fn, sourceFileLocation(vis_xml),
+									&reduced_deformable.m_visualFileName, &out_type);
+
+	if (!success)
+	{
+		// warning already printed
+		return false;
+	}
+
+	// collision mesh is optional
+	XMLElement* col_xml = config->FirstChildElement("collision");
+	if (col_xml)
+	{
+		if (!col_xml->Attribute("filename"))
+		{
+			logger->reportError("expected a filename for collision geoemtry");
+			return false;
+		}
+		fn = col_xml->Attribute("filename");
+		success = UrdfFindMeshFile(m_fileIO,
+								   model.m_sourceFile, fn, sourceFileLocation(col_xml),
+								   &reduced_deformable.m_simFileName, &out_type);
+
+		if (!success)
+		{
+			// warning already printed
+			return false;
+		}
+	}
+
+	ParseUserData(config, reduced_deformable.m_userData, logger);
+	return true;
+}
+
 bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
 {
 	joint.m_lowerLimit = 0.f;
@@ -1289,6 +1455,7 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 	joint.m_velocityLimit = 0.f;
 	joint.m_jointDamping = 0.f;
 	joint.m_jointFriction = 0.f;
+	joint.m_twistLimit = -1;
 
 	if (m_parseSDF)
 	{
@@ -1303,13 +1470,19 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 		{
 			joint.m_upperLimit = urdfLexicalCast<double>(upper_xml->GetText());
 		}
+		
+		XMLElement* twist_xml = config->FirstChildElement("twist");
+		if (twist_xml)
+		{
+			joint.m_twistLimit = urdfLexicalCast<double>(twist_xml->GetText());
+		}
 
 		XMLElement* effort_xml = config->FirstChildElement("effort");
 		if (effort_xml)
 		{
 			joint.m_effortLimit = urdfLexicalCast<double>(effort_xml->GetText());
 		}
-
+		
 		XMLElement* velocity_xml = config->FirstChildElement("velocity");
 		if (velocity_xml)
 		{
@@ -1336,6 +1509,14 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 			joint.m_upperLimit *= m_urdfScaling;
 		}
 
+		
+		const char* twist_str = config->Attribute("twist");
+		if (twist_str)
+		{
+			joint.m_twistLimit = urdfLexicalCast<double>(twist_str);
+		}
+
+
 		// Get joint effort limit
 		const char* effort_str = config->Attribute("effort");
 		if (effort_str)
@@ -1343,6 +1524,7 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 			joint.m_effortLimit = urdfLexicalCast<double>(effort_str);
 		}
 
+
 		// Get joint velocity limit
 		const char* velocity_str = config->Attribute("velocity");
 		if (velocity_str)
@@ -2109,9 +2291,16 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 	//	logger->printMessage(msg);
 
 
+  
+	XMLElement* reduced_deformable_xml = robot_xml->FirstChildElement("reduced_deformable");
+  if (reduced_deformable_xml) {
+    return parseReducedDeformable(m_urdf2Model, reduced_deformable_xml, logger);
+	}
+	
   XMLElement* deformable_xml = robot_xml->FirstChildElement("deformable");
-  if(deformable_xml)
+  if (deformable_xml) {
     return parseDeformable(m_urdf2Model, deformable_xml, logger);
+	}
 
 	for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
 	{

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -189,13 +189,15 @@ struct UrdfJoint
 
 	double m_jointDamping;
 	double m_jointFriction;
+	double m_twistLimit;
 	UrdfJoint()
 		: m_lowerLimit(0),
 		  m_upperLimit(-1),
 		  m_effortLimit(0),
 		  m_velocityLimit(0),
 		  m_jointDamping(0),
-		  m_jointFriction(0)
+		  m_jointFriction(0),
+		  m_twistLimit(-1)
 	{
 	}
 };
@@ -245,6 +247,37 @@ struct UrdfDeformable
 	}
 };
 
+struct UrdfReducedDeformable
+{
+	std::string m_name;
+	int m_numModes;
+
+	double m_mass;
+	double m_stiffnessScale;
+	double m_erp;
+	double m_cfm;
+	double m_friction;
+	double m_collisionMargin;
+	double m_damping;
+
+	std::string m_visualFileName;
+	std::string m_simFileName;
+	btHashMap<btHashString, std::string> m_userData;
+
+	UrdfReducedDeformable() 
+		:	m_numModes(1),
+			m_mass(1),
+			m_stiffnessScale(100),
+			m_erp(0.2),					// generally, 0.2 is a good value for erp and cfm
+			m_cfm(0.2),
+			m_friction(0),
+			m_collisionMargin(0.02),
+			m_damping(0),
+			m_visualFileName(""),
+			m_simFileName("")
+	{}
+};
+
 struct UrdfModel
 {
 	std::string m_name;
@@ -254,6 +287,7 @@ struct UrdfModel
 	btHashMap<btHashString, UrdfLink*> m_links;
 	btHashMap<btHashString, UrdfJoint*> m_joints;
 	UrdfDeformable m_deformable;
+	UrdfReducedDeformable m_reducedDeformable;
 	// Maps user data keys to user data values.
 	btHashMap<btHashString, std::string> m_userData;
 
@@ -331,7 +365,7 @@ protected:
 	bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
   bool parseLameCoefficients(LameCoefficients& lameCoefficients, tinyxml2::XMLElement* config, ErrorLogger* logger);
 	bool parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger);
-
+	bool parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger);
 
 public:
 	UrdfParser(struct CommonFileIOInterface* fileIO);
@@ -411,6 +445,11 @@ public:
 		return m_urdf2Model.m_deformable;
 	}
 
+	const UrdfReducedDeformable& getReducedDeformable() const
+	{
+		return m_urdf2Model.m_reducedDeformable;
+	}
+
 	bool mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger* logger, bool forceFixedBase, int level);
 	bool printTree(UrdfLink* link, ErrorLogger* logger, int level);
 	bool recreateModel(UrdfModel& model, UrdfLink* link, ErrorLogger* logger);