From f07bb23278a6116f806da677f35c02c52414f089 Mon Sep 17 00:00:00 2001
From: sehoonha <sehoon.ha@gmail.com>
Date: Sat, 1 Oct 2016 20:55:03 -0400
Subject: [PATCH 1/7] read material from sdf

---
 dart/utils/sdf/SdfParser.cpp | 37 ++++++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
index 5dcbd7ef0e6af..116fd537bb170 100644
--- a/dart/utils/sdf/SdfParser.cpp
+++ b/dart/utils/sdf/SdfParser.cpp
@@ -167,6 +167,13 @@ dynamics::ShapeNode* readShapeNode(
     const std::string& skelPath,
     const common::ResourceRetrieverPtr& retriever);
 
+
+void readMaterial(
+    tinyxml2::XMLElement* materialEle,
+    dynamics::ShapeNode* shapeNode,
+    const std::string& skelPath,
+    const common::ResourceRetrieverPtr& retriever);
+
 void readVisualizationShapeNode(
     dynamics::BodyNode* bodyNode,
     tinyxml2::XMLElement* vizShapeNodeEle,
@@ -981,6 +988,29 @@ dynamics::ShapeNode* readShapeNode(
   return shapeNode;
 }
 
+
+//==============================================================================
+void readMaterial(
+  tinyxml2::XMLElement* materialEle,
+  dynamics::ShapeNode* shapeNode,
+  const std::string& skelPath,
+  const common::ResourceRetrieverPtr& retriever) {
+
+  auto visualAspect = shapeNode->getVisualAspect();
+  Eigen::VectorXd color = getValueVectorXd(materialEle, "diffuse");
+  if (color.size() == 3) {
+    Eigen::Vector3d color3d = color;
+    visualAspect->setColor(color3d);
+  } else if (color.size() == 4) {
+    Eigen::Vector4d color4d = color;
+    visualAspect->setColor(color4d);
+  } else {
+    dterr << "[SdfParse::readMaterial] Unsupported color vector size: "
+          << color.size() << "\n";
+  }
+}
+
+
 //==============================================================================
 void readVisualizationShapeNode(
     dynamics::BodyNode* bodyNode,
@@ -994,6 +1024,13 @@ void readVisualizationShapeNode(
                       skelPath, retriever);
 
   newShapeNode->createVisualAspect();
+
+  // Material
+  if (hasElement(vizShapeNodeEle, "material"))
+  {
+    tinyxml2::XMLElement* materialEle = getElement(vizShapeNodeEle, "material");
+    readMaterial(materialEle, newShapeNode, skelPath, retriever);
+  }  
 }
 
 //==============================================================================

From 21b8cd5af21e60337badcb333fe9a529372787c5 Mon Sep 17 00:00:00 2001
From: sehoonha <sehoon.ha@gmail.com>
Date: Sat, 1 Oct 2016 21:04:53 -0400
Subject: [PATCH 2/7] read WeldJoint from "fixed" type as in SDF specification

---
 dart/utils/sdf/SdfParser.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
index 116fd537bb170..facfa474323dd 100644
--- a/dart/utils/sdf/SdfParser.cpp
+++ b/dart/utils/sdf/SdfParser.cpp
@@ -641,6 +641,10 @@ std::pair<dynamics::Joint*,dynamics::BodyNode*> createJointAndNodePair(
     return skeleton->createJointAndBodyNodePair<dynamics::BallJoint>(parent,
           static_cast<const dynamics::BallJoint::Properties&>(*joint.properties),
           static_cast<const typename NodeType::Properties&>(*node.properties));
+  else if (std::string("fixed") == type)
+    return skeleton->createJointAndBodyNodePair<dynamics::WeldJoint>(parent,
+          static_cast<const dynamics::WeldJoint::Properties&>(*joint.properties),
+          static_cast<const typename NodeType::Properties&>(*node.properties));
   else if (std::string("free") == type)
     return skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(parent,
           static_cast<const dynamics::FreeJoint::Properties&>(*joint.properties),
@@ -1030,7 +1034,7 @@ void readVisualizationShapeNode(
   {
     tinyxml2::XMLElement* materialEle = getElement(vizShapeNodeEle, "material");
     readMaterial(materialEle, newShapeNode, skelPath, retriever);
-  }  
+  }
 }
 
 //==============================================================================

From 7a4ca025ca298fcfe3e67af1f7d5b3e88c610c86 Mon Sep 17 00:00:00 2001
From: sehoonha <sehoon.ha@gmail.com>
Date: Sat, 1 Oct 2016 21:56:44 -0400
Subject: [PATCH 3/7] minor error safe statements on readMaterial

---
 dart/utils/sdf/SdfParser.cpp | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
index facfa474323dd..94002abc0a934 100644
--- a/dart/utils/sdf/SdfParser.cpp
+++ b/dart/utils/sdf/SdfParser.cpp
@@ -1001,16 +1001,18 @@ void readMaterial(
   const common::ResourceRetrieverPtr& retriever) {
 
   auto visualAspect = shapeNode->getVisualAspect();
-  Eigen::VectorXd color = getValueVectorXd(materialEle, "diffuse");
-  if (color.size() == 3) {
-    Eigen::Vector3d color3d = color;
-    visualAspect->setColor(color3d);
-  } else if (color.size() == 4) {
-    Eigen::Vector4d color4d = color;
-    visualAspect->setColor(color4d);
-  } else {
-    dterr << "[SdfParse::readMaterial] Unsupported color vector size: "
-          << color.size() << "\n";
+  if (hasElement(materialEle, "diffuse")) {
+    Eigen::VectorXd color = getValueVectorXd(materialEle, "diffuse");
+    if (color.size() == 3) {
+      Eigen::Vector3d color3d = color;
+      visualAspect->setColor(color3d);
+    } else if (color.size() == 4) {
+      Eigen::Vector4d color4d = color;
+      visualAspect->setColor(color4d);
+    } else {
+      dterr << "[SdfParse::readMaterial] Unsupported color vector size: "
+            << color.size() << "\n";
+    }
   }
 }
 

From cc16b1c5125985594f615c16d38493f5877b7dfe Mon Sep 17 00:00:00 2001
From: sehoonha <sehoon.ha@gmail.com>
Date: Sat, 1 Oct 2016 22:16:00 -0400
Subject: [PATCH 4/7] remove unused parameters

---
 dart/utils/sdf/SdfParser.cpp | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
index 94002abc0a934..c546de53575c1 100644
--- a/dart/utils/sdf/SdfParser.cpp
+++ b/dart/utils/sdf/SdfParser.cpp
@@ -170,9 +170,7 @@ dynamics::ShapeNode* readShapeNode(
 
 void readMaterial(
     tinyxml2::XMLElement* materialEle,
-    dynamics::ShapeNode* shapeNode,
-    const std::string& skelPath,
-    const common::ResourceRetrieverPtr& retriever);
+    dynamics::ShapeNode* shapeNode);
 
 void readVisualizationShapeNode(
     dynamics::BodyNode* bodyNode,
@@ -996,9 +994,7 @@ dynamics::ShapeNode* readShapeNode(
 //==============================================================================
 void readMaterial(
   tinyxml2::XMLElement* materialEle,
-  dynamics::ShapeNode* shapeNode,
-  const std::string& skelPath,
-  const common::ResourceRetrieverPtr& retriever) {
+  dynamics::ShapeNode* shapeNode) {
 
   auto visualAspect = shapeNode->getVisualAspect();
   if (hasElement(materialEle, "diffuse")) {
@@ -1035,7 +1031,7 @@ void readVisualizationShapeNode(
   if (hasElement(vizShapeNodeEle, "material"))
   {
     tinyxml2::XMLElement* materialEle = getElement(vizShapeNodeEle, "material");
-    readMaterial(materialEle, newShapeNode, skelPath, retriever);
+    readMaterial(materialEle, newShapeNode);
   }
 }
 

From c19dea87172388c65b1a323c651e5eece198057a Mon Sep 17 00:00:00 2001
From: sehoonha <sehoon.ha@gmail.com>
Date: Sun, 2 Oct 2016 00:51:49 -0400
Subject: [PATCH 5/7] add readMaterial test with a new quadruped sdf file.

---
 data/sdf/quad.sdf           | 867 ++++++++++++++++++++++++++++++++++++
 unittests/testSdfParser.cpp |  18 +
 2 files changed, 885 insertions(+)
 create mode 100644 data/sdf/quad.sdf

diff --git a/data/sdf/quad.sdf b/data/sdf/quad.sdf
new file mode 100644
index 0000000000000..3134d55a079fc
--- /dev/null
+++ b/data/sdf/quad.sdf
@@ -0,0 +1,867 @@
+<?xml version='1.0' encoding='ASCII'?>
+<sdf version="1.4">
+  <model name="BabyElephant">
+    <link name="Body">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <mass>7.200000</mass>
+        <inertia>
+          <ixx>0.870000</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.222000</iyy>
+          <iyz>0.000000</iyz>
+          <izz>1.080000</izz>
+        </inertia>
+      </inertial>
+      <collision name="Body_collision">
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.600000 1.200000 0.100000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="Body_visual">
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.600000 1.200000 0.100000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="00FLHip">
+      <pose>-0.300000 0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="00FLHip_collision">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="00FLHip_visual">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="01FLThigh">
+      <pose>-0.300000 0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="01FLThigh_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="01FLThigh_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="02FLShin">
+      <pose>-0.300000 0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="02FLShin_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="02FLShin_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="03FLFoot">
+      <pose>-0.300000 0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="03FLFoot_collision">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="03FLFoot_visual">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.900000 0.800000</diffuse>
+        </material>
+      </visual>
+      <visual name="FL_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="04FRHip">
+      <pose>0.300000 0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="04FRHip_collision">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="04FRHip_visual">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="05FRThigh">
+      <pose>0.300000 0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="05FRThigh_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="05FRThigh_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="06FRShin">
+      <pose>0.300000 0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="06FRShin_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="06FRShin_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="07FRFoot">
+      <pose>0.300000 0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="07FRFoot_collision">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="07FRFoot_visual">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.300000 0.400000 0.900000</diffuse>
+        </material>
+      </visual>
+      <visual name="FR_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="08BLHip">
+      <pose>-0.300000 -0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="08BLHip_collision">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="08BLHip_visual">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="09BLThigh">
+      <pose>-0.300000 -0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="09BLThigh_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="09BLThigh_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="10BLShin">
+      <pose>-0.300000 -0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="10BLShin_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="10BLShin_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="11BLFoot">
+      <pose>-0.300000 -0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="11BLFoot_collision">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="11BLFoot_visual">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.300000 0.400000 0.900000</diffuse>
+        </material>
+      </visual>
+      <visual name="BL_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="12BRHip">
+      <pose>0.300000 -0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="12BRHip_collision">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="12BRHip_visual">
+        <pose>0.000000 0.000000 -0.025000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="13BRThigh">
+      <pose>0.300000 -0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="13BRThigh_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="13BRThigh_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="14BRShin">
+      <pose>0.300000 -0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="14BRShin_collision">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="14BRShin_visual">
+        <pose>0.000000 0.000000 -0.200000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="15BRFoot">
+      <pose>0.300000 -0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="15BRFoot_collision">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="15BRFoot_visual">
+        <pose>0.000000 0.000000 -0.150000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.300000 0.400000 0.900000</diffuse>
+        </material>
+      </visual>
+      <visual name="BR_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <joint type="revolute" name="j_00FLHip">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>00FLHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_01FLThigh">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>00FLHip</parent>
+      <child>01FLThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_02FLShin">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>01FLThigh</parent>
+      <child>02FLShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_03FLFoot">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>02FLShin</parent>
+      <child>03FLFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_04FRHip">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>04FRHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_05FRThigh">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>04FRHip</parent>
+      <child>05FRThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_06FRShin">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>05FRThigh</parent>
+      <child>06FRShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_07FRFoot">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>06FRShin</parent>
+      <child>07FRFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_08BLHip">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>08BLHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_09BLThigh">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>08BLHip</parent>
+      <child>09BLThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_10BLShin">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>09BLThigh</parent>
+      <child>10BLShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_11BLFoot">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>10BLShin</parent>
+      <child>11BLFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_12BRHip">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>12BRHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_13BRThigh">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>12BRHip</parent>
+      <child>13BRThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_14BRShin">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>13BRThigh</parent>
+      <child>14BRShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint type="revolute" name="j_15BRFoot">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>14BRShin</parent>
+      <child>15BRFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+  </model>
+</sdf>
diff --git a/unittests/testSdfParser.cpp b/unittests/testSdfParser.cpp
index f11086368045d..ec84f9bcf4dc1 100644
--- a/unittests/testSdfParser.cpp
+++ b/unittests/testSdfParser.cpp
@@ -119,6 +119,24 @@ TEST(SdfParser, ParsingSDFFiles)
   }
 }
 
+//==============================================================================
+TEST(SdfParser, ReadMaterial)
+{
+  std::string sdf_filename = DART_DATA_PATH"sdf/quad.sdf";
+  SkeletonPtr skeleton = SdfParser::readSkeleton(sdf_filename);
+  EXPECT_TRUE(nullptr != skeleton);  auto bodynode = skeleton->getBodyNode(0);
+
+  for (auto shapenode : bodynode->getShapeNodes()) {
+    if (shapenode->has<dart::dynamics::VisualAspect>()) {
+      Eigen::Vector4d color = shapenode->getVisualAspect()->getRGBA();
+      Eigen::Vector4d expected_color(0.5, 0.6, 0.8, 1.0);
+      double diff = (color - expected_color).norm();
+      EXPECT_LT(diff, 1e-4);
+    }
+  }
+
+}
+
 //==============================================================================
 int main(int argc, char* argv[])
 {

From 8b83059221bbf5ee81cd266b4af1ac551c88167b Mon Sep 17 00:00:00 2001
From: sehoonha <sehoon.ha@gmail.com>
Date: Sun, 2 Oct 2016 01:40:37 -0400
Subject: [PATCH 6/7] update quad... -_-

---
 data/sdf/quad.sdf | 128 +++++++++++++++++++++++-----------------------
 1 file changed, 64 insertions(+), 64 deletions(-)

diff --git a/data/sdf/quad.sdf b/data/sdf/quad.sdf
index 3134d55a079fc..244ec6ad93df0 100644
--- a/data/sdf/quad.sdf
+++ b/data/sdf/quad.sdf
@@ -38,7 +38,7 @@
     <link name="00FLHip">
       <pose>-0.300000 0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <mass>0.012500</mass>
         <inertia>
           <ixx>0.000005</ixx>
@@ -50,7 +50,7 @@
         </inertia>
       </inertial>
       <collision name="00FLHip_collision">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -58,7 +58,7 @@
         </geometry>
       </collision>
       <visual name="00FLHip_visual">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -72,7 +72,7 @@
     <link name="01FLThigh">
       <pose>-0.300000 0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -84,7 +84,7 @@
         </inertia>
       </inertial>
       <collision name="01FLThigh_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -92,7 +92,7 @@
         </geometry>
       </collision>
       <visual name="01FLThigh_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -106,7 +106,7 @@
     <link name="02FLShin">
       <pose>-0.300000 0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -118,7 +118,7 @@
         </inertia>
       </inertial>
       <collision name="02FLShin_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -126,7 +126,7 @@
         </geometry>
       </collision>
       <visual name="02FLShin_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -140,7 +140,7 @@
     <link name="03FLFoot">
       <pose>-0.300000 0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <mass>0.300000</mass>
         <inertia>
           <ixx>0.002500</ixx>
@@ -152,7 +152,7 @@
         </inertia>
       </inertial>
       <collision name="03FLFoot_collision">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -160,7 +160,7 @@
         </geometry>
       </collision>
       <visual name="03FLFoot_visual">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -185,7 +185,7 @@
     <link name="04FRHip">
       <pose>0.300000 0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <mass>0.012500</mass>
         <inertia>
           <ixx>0.000005</ixx>
@@ -197,7 +197,7 @@
         </inertia>
       </inertial>
       <collision name="04FRHip_collision">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -205,7 +205,7 @@
         </geometry>
       </collision>
       <visual name="04FRHip_visual">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -219,7 +219,7 @@
     <link name="05FRThigh">
       <pose>0.300000 0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -231,7 +231,7 @@
         </inertia>
       </inertial>
       <collision name="05FRThigh_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -239,7 +239,7 @@
         </geometry>
       </collision>
       <visual name="05FRThigh_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -253,7 +253,7 @@
     <link name="06FRShin">
       <pose>0.300000 0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -265,7 +265,7 @@
         </inertia>
       </inertial>
       <collision name="06FRShin_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -273,7 +273,7 @@
         </geometry>
       </collision>
       <visual name="06FRShin_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -287,7 +287,7 @@
     <link name="07FRFoot">
       <pose>0.300000 0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <mass>0.300000</mass>
         <inertia>
           <ixx>0.002500</ixx>
@@ -299,7 +299,7 @@
         </inertia>
       </inertial>
       <collision name="07FRFoot_collision">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -307,7 +307,7 @@
         </geometry>
       </collision>
       <visual name="07FRFoot_visual">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -332,7 +332,7 @@
     <link name="08BLHip">
       <pose>-0.300000 -0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <mass>0.012500</mass>
         <inertia>
           <ixx>0.000005</ixx>
@@ -344,7 +344,7 @@
         </inertia>
       </inertial>
       <collision name="08BLHip_collision">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -352,7 +352,7 @@
         </geometry>
       </collision>
       <visual name="08BLHip_visual">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -366,7 +366,7 @@
     <link name="09BLThigh">
       <pose>-0.300000 -0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -378,7 +378,7 @@
         </inertia>
       </inertial>
       <collision name="09BLThigh_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -386,7 +386,7 @@
         </geometry>
       </collision>
       <visual name="09BLThigh_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -400,7 +400,7 @@
     <link name="10BLShin">
       <pose>-0.300000 -0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name="10BLShin_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -420,7 +420,7 @@
         </geometry>
       </collision>
       <visual name="10BLShin_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -434,7 +434,7 @@
     <link name="11BLFoot">
       <pose>-0.300000 -0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <mass>0.300000</mass>
         <inertia>
           <ixx>0.002500</ixx>
@@ -446,7 +446,7 @@
         </inertia>
       </inertial>
       <collision name="11BLFoot_collision">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -454,7 +454,7 @@
         </geometry>
       </collision>
       <visual name="11BLFoot_visual">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -479,7 +479,7 @@
     <link name="12BRHip">
       <pose>0.300000 -0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <mass>0.012500</mass>
         <inertia>
           <ixx>0.000005</ixx>
@@ -491,7 +491,7 @@
         </inertia>
       </inertial>
       <collision name="12BRHip_collision">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -499,7 +499,7 @@
         </geometry>
       </collision>
       <visual name="12BRHip_visual">
-        <pose>0.000000 0.000000 -0.025000</pose>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.050000 0.050000 0.050000</size>
@@ -513,7 +513,7 @@
     <link name="13BRThigh">
       <pose>0.300000 -0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -525,7 +525,7 @@
         </inertia>
       </inertial>
       <collision name="13BRThigh_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -533,7 +533,7 @@
         </geometry>
       </collision>
       <visual name="13BRThigh_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -547,7 +547,7 @@
     <link name="14BRShin">
       <pose>0.300000 -0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <mass>0.400000</mass>
         <inertia>
           <ixx>0.005667</ixx>
@@ -559,7 +559,7 @@
         </inertia>
       </inertial>
       <collision name="14BRShin_collision">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -567,7 +567,7 @@
         </geometry>
       </collision>
       <visual name="14BRShin_visual">
-        <pose>0.000000 0.000000 -0.200000</pose>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.400000</size>
@@ -581,7 +581,7 @@
     <link name="15BRFoot">
       <pose>0.300000 -0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
       <inertial>
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <mass>0.300000</mass>
         <inertia>
           <ixx>0.002500</ixx>
@@ -593,7 +593,7 @@
         </inertia>
       </inertial>
       <collision name="15BRFoot_collision">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -601,7 +601,7 @@
         </geometry>
       </collision>
       <visual name="15BRFoot_visual">
-        <pose>0.000000 0.000000 -0.150000</pose>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
         <geometry>
           <box>
             <size>0.100000 0.100000 0.300000</size>
@@ -623,7 +623,7 @@
         </material>
       </visual>
     </link>
-    <joint type="revolute" name="j_00FLHip">
+    <joint name="j_00FLHip" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>Body</parent>
@@ -638,7 +638,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_01FLThigh">
+    <joint name="j_01FLThigh" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>00FLHip</parent>
@@ -653,7 +653,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_02FLShin">
+    <joint name="j_02FLShin" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>01FLThigh</parent>
@@ -668,7 +668,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_03FLFoot">
+    <joint name="j_03FLFoot" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>02FLShin</parent>
@@ -683,7 +683,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_04FRHip">
+    <joint name="j_04FRHip" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>Body</parent>
@@ -698,7 +698,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_05FRThigh">
+    <joint name="j_05FRThigh" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>04FRHip</parent>
@@ -713,7 +713,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_06FRShin">
+    <joint name="j_06FRShin" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>05FRThigh</parent>
@@ -728,7 +728,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_07FRFoot">
+    <joint name="j_07FRFoot" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>06FRShin</parent>
@@ -743,7 +743,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_08BLHip">
+    <joint name="j_08BLHip" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>Body</parent>
@@ -758,7 +758,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_09BLThigh">
+    <joint name="j_09BLThigh" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>08BLHip</parent>
@@ -773,7 +773,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_10BLShin">
+    <joint name="j_10BLShin" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>09BLThigh</parent>
@@ -788,7 +788,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_11BLFoot">
+    <joint name="j_11BLFoot" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>10BLShin</parent>
@@ -803,7 +803,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_12BRHip">
+    <joint name="j_12BRHip" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>Body</parent>
@@ -818,7 +818,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_13BRThigh">
+    <joint name="j_13BRThigh" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>12BRHip</parent>
@@ -833,7 +833,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_14BRShin">
+    <joint name="j_14BRShin" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>13BRThigh</parent>
@@ -848,7 +848,7 @@
         </limit>
       </axis>
     </joint>
-    <joint type="revolute" name="j_15BRFoot">
+    <joint name="j_15BRFoot" type="revolute">
       <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
       <use_parent_model_frame>0</use_parent_model_frame>
       <parent>14BRShin</parent>

From 46c81092fe4aac7232c87604370fbeb677409301 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Sun, 2 Oct 2016 11:08:27 -0400
Subject: [PATCH 7/7] Update changelog

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 069d94c6b43c1..6f73cb994ae54 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@
 
 * Parsers
 
+  * Added `sdf` parsing for `fixed` joint and `material` tag of visual shape: [#775](https://github.com/dartsim/dart/pull/775)
   * Added support of urdfdom_headers 1.0: [#766](https://github.com/dartsim/dart/pull/766)
 
 * Misc improvements and bug fixes