Initial urdf parser plugin that parses sdformat (#1)

* Initial urdf parser plugin that parses sdformat Lots of TODOs Signed-off-by: Shane Loretz<sloretz@openrobotics.org> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Visual and Collision with Box geometry Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Sphere geometry Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Cylinder geometry Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Mesh support Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * remove TODO comment about resolving poses Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Let downstream worry about resolving mesh URIs Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Reword assumption about kinematic root link Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Make fall through comments easier to see Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Create urdf_mesh variable Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Handle inertia Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Mesh scale Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Visibility control header Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove resource_retriever dependency Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Support joint axis expressed in other frames Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Include ignition/math/Pose3.hh Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Use final on plugin class Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Use TinyXML2 to filter non-sdf XML documents Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Apache 2.0 License Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Satisfy uncrustify Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Satisfy cpplint Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add linter tests Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add test for pose_link case Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Actually add test files Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add SDF link pose to URDF link members Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Pose link test actually checks pose Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add SDF visual pose test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add SDF collision pose test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add SDF inertial pose test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add test for model with pose, plus refactor test tools Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Replace todo with explanation Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add pose_link_all test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Assert model name is correct Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add pose_link_in_frame test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add pose_collision_in_frame test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add pose_visual_in_frame test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add skipped pose_inertial_in_frame test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Depend on sdformat Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix link poses of child links Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add test for model with joint pose Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unused variable Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add test for model with joint pose in frame Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Rename variables for consistent ordering Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix fame names in calculating joint pose Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * URDF link frames are coincident with joint frames And the root link pose has no effect on the URDF output except that it changes the relative locations of other links with the root link. The SDF link pose cannot be expressed in URDF C++ structures without adding dummy links, but this does not do that. Signed-off-by: Shane Loretz<sloretz@openrobotics.org> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add pose_chain test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Clearer description of pose_collision expectations Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Clearer description of pose_collision_in_frame expectations Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Clearer pose_inertial* expectations Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unnecessary ASSERT Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Initializer lists Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unnecessary ASSERT Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Initializer lists Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix pose_link* test expectations Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Clearer pose_visual* test expecations Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Shorter file name Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Shorter file name Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add graph_loop test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add graph_four_bar test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Alphabetize Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Refactor tree traversal code Fixes bug were tree's with non-canonical roots were not caught during conversion Shrink list of joints to check after checking them Use visited_links only to catch multiple roots and algorithm errors Get rid of trailing_ Signed-off-by: Shane Loretz<sloretz@openrobotics.org> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add graph_tree_non_canonical_root test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Transfrom -> transform Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Different error when XML file has no model Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * urdf child link keeps weak reference to parent link Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add graph_tree test and EXPECT_NAMES util Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add graph_chain test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add graph_chain_non_canonical_root test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_plane test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_box test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_cylinder test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_sphere test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_heightmap test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_collada test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_obj test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_stl test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add geometry_mesh_scaled test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add tests for zero and two models Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_ball test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Get rid of num_axes variable Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add damping and friction info to joints Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_continuous test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_fixed test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint limits info Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_prismatic test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add axis expectations Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_revolute test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_revolute2 test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_screw test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_universal test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add link_inertia test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_revolute_axis test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Warn on non-default values of unsupported <joint> tags Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add link_multiple_collisions test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add link_multiple_visuals test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_revolute_axis_in_frame test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_revolute_default_limits test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Detect kinematic loops involving redundant joints Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_revolute_two_joints_two_links test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Warn if <sensor> or <light> are used on <link> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add link_sensor_imu test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add link_light_point test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Sensors -> lights Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Move package into folder in repo Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add sdformat_test_files package to repo Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * lilnk -> link Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Whitespace Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Save a line Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Move PlaneShape check lower Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove impossible condition after make_shared Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Make names shorter Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove accidentally comitted file Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add material_blinn_phong test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Warn if unsupported <material><lighting> feature is used Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add skipped material_dynamic_lights test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unfinished material models and add TODO for them Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Expect no Algorithm errors Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add joint_gearbox model and test Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Update descriptions of all models Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add sdformat_test_files README Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add README for sdformat_urdf Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Misc tiny edits Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Eliminate elements Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add repo level readme Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove . Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Trick to use sdformat9 from source Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove condition hack Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add colcon.pkg for building sdformat from source Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * check errors instead of valid pointer Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Make urdf a <depend> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove std::cout dbg print Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * the the -> the Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Compare WorldCount against 0u Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Concatenate link and visual names to make material name Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Compatibility with CMake earlier than 3.14 Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Use target_link_libraries() Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * One install rule per target Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * voilated -> violated Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Use axis2 for second axis Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Universal joint perpendicular axis Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Use Pose3d::operator* Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * structures -> DOM objects Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Document EXPECT_NAMES() Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Compare normalized joint axes Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Check casted pointer before using them Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Check geometry pointer isn't null before using it Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Assert joint isn't null before using it Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Assert link isn't null before using it Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Assert link isn't null before using it Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Color = 0.4 * ambient + 0.8 * diffuse Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Fix application of link pose on inertial/visual/collision Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Add pose_joint_all test Signed-off-by: Shane Loretz <sloretz@openrobotics.org>
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diff --git a/LICENSE b/LICENSE
diff --git a/README.md b/README.md
@@ -0,0 +1,13 @@
+# SDFormat XML Robot Descriptions
+
+This repo enables using SDFormat XML as a robot description format instead of URDF XML.
+It does this by providing a `urdf_parser_plugin` for SDFormat that reads SDFormat and outputs URDF C++ DOM structures.
+To use it, install `sdformat_urdf` and use a valid SDFormat XML file (with some limitations) for your robot description.
+See the [README in the `sdformat_urdf` package](./sdformat_urdf/README.md) for more info on the limitations.
+
+## Packages
+
+* [`sdformat_urdf`](./sdformat_urdf/README.md)
+  * provides a library and a `urdf_parser_plugin` using that library to convert SDFormat XML to URDF C++ DOM structures
+* [`sdformat_test_files`](./sdformat_test_files/README.md)
+  * provides SDFormat models using different parts of the SDFormat XML specification for testing
diff --git a/sdformat_test_files/CMakeLists.txt b/sdformat_test_files/CMakeLists.txt
@@ -0,0 +1,103 @@
+cmake_minimum_required(VERSION 3.5)
+project(sdformat_test_files)
+
+set(sdformat_test_files_VERSION 0.1.0)
+
+# Decide where to install stuff
+include(GNUInstallDirs)
+
+set(INSTALL_SHARE_DIR "${CMAKE_INSTALL_DATAROOTDIR}/sdformat_test_files" CACHE PATH
+  "Installation directory for arch independent data files")
+
+set(INSTALL_CMAKE_DIR "${CMAKE_INSTALL_DATAROOTDIR}/sdformat_test_files/cmake" CACHE PATH
+  "Installation directory for CMake files")
+
+# Install models
+set(model_names
+  "geometry_box"
+  "geometry_cylinder"
+  "geometry_heightmap"
+  "geometry_mesh_collada"
+  "geometry_mesh_obj"
+  "geometry_mesh_scaled"
+  "geometry_mesh_stl"
+  "geometry_plane"
+  "geometry_sphere"
+  "graph_chain"
+  "graph_chain_non_canonical_root"
+  "graph_four_bar"
+  "graph_loop"
+  "graph_tree"
+  "graph_tree_non_canonical_root"
+  "joint_ball"
+  "joint_continuous"
+  "joint_fixed"
+  "joint_gearbox"
+  "joint_prismatic"
+  "joint_revolute"
+  "joint_revolute2"
+  "joint_revolute_axis"
+  "joint_revolute_axis_in_frame"
+  "joint_revolute_default_limits"
+  "joint_revolute_two_joints_two_links"
+  "joint_screw"
+  "joint_universal"
+  "link_inertia"
+  "link_light_point"
+  "link_multiple_collisions"
+  "link_multiple_visuals"
+  "link_sensor_imu"
+  "material_blinn_phong"
+  "material_dynamic_lights"
+  "model_two_models"
+  "model_zero_models"
+  "pose_chain"
+  "pose_collision"
+  "pose_collision_in_frame"
+  "pose_inertial"
+  "pose_inertial_in_frame"
+  "pose_joint"
+  "pose_joint_all"
+  "pose_joint_in_frame"
+  "pose_link"
+  "pose_link_all"
+  "pose_link_in_frame"
+  "pose_model"
+  "pose_visual"
+  "pose_visual_in_frame"
+)
+
+foreach(model ${model_names})
+  # Install models to share/project-name/model-name
+  install(DIRECTORY "models/${model}" DESTINATION "${INSTALL_SHARE_DIR}/models")
+endforeach()
+
+set(_arch_independent "")
+if(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.14.0")
+  set(_arch_independent "ARCH_INDEPENDENT")
+endif()
+
+# Create projectConfigVersion.cmake
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfigVersion.cmake"
+  VERSION "${sdformat_test_files_VERSION}"
+  COMPATIBILITY SameMajorVersion
+  ${_arch_independent})
+
+# Create projectConfig.cmake
+configure_package_config_file("sdformat_test_filesConfig.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfig.cmake"
+  INSTALL_DESTINATION "${INSTALL_CMAKE_DIR}"
+  PATH_VARS "INSTALL_CMAKE_DIR" "INSTALL_SHARE_DIR")
+
+# Create file with CMake functions
+configure_file("sdformat_test_files_functions.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_files_functions.cmake" @ONLY)
+
+# Install cmake files
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfig.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_filesConfigVersion.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/sdformat_test_files/sdformat_test_files_functions.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}")
diff --git a/sdformat_test_files/README.md b/sdformat_test_files/README.md
@@ -0,0 +1,129 @@
+# SDFormat Test files
+
+This package contains a list of SDFormat files for testing tools that work with SDFormat XML.
+
+## Models
+
+### Geometry
+
+* `geometry_box`
+  * A single-link model using the box geometry type for both the visual and collision.
+* `geometry_cylinder`
+  * A single-link model using the cylinder geometry type for both the visual and collision.
+* `geometry_heightmap`
+  * A single-link model using heightmap geometry for both the visual and collision.
+* `geometry_mesh_collada`
+  * A single link using mesh geometry with a COLLADA mesh.
+* `geometry_mesh_obj`
+  * A single link using a Wavefront OBJ mesh.
+* `geometry_mesh_scaled`
+  * A single-link model using a mesh scaled differently on x, y, and z axes for both the visual and collision.
+* `geometry_mesh_stl`
+  * A single-link model using an STL mesh.
+* `geometry_plane`
+  * A single-link model using the plane geometry type for both the visual and collision.
+* `geometry_sphere`
+  * A single-link model using the sphere geometry type for both the visual and collision.
+
+### Materials
+
+* `material_blinn_phong`
+  * A single link with a material that uses ambient/diffuse/specular/emissive components to color it.
+* `material_dynamic_lights`
+  * A link with two visuals: one with dynamic lights on, and the other with dynamic lights off.
+
+### Joints
+
+* `joint_ball`
+  * A model with two links connected by a ball joint.
+* `joint_continuous`
+  * A model with two links connected by a continuous joint.
+* `joint_fixed`
+  * A model with two links connected by a fixed joint.
+* `joint_gearbox`
+  * A model with 3 links total. Two links are connected to a reference link with revolute joints and a gearbox joint enforces that one revolute joint rotates faster than the other.
+* `joint_prismatic`
+  * A model with two links connected by a prismatic joint.
+* `joint_revolute`
+  * A model with two links connected by a revolute joint.
+* `joint_revolute2`
+  * A model with two links connected by a revolute2 joint.
+* `joint_revolute_axis`
+  * A model with two links connected by a revolute joint with an axis having different values for x, y, and z.
+* `joint_revolute_axis_in_frame`
+  * A model with two links connected by a revolute joint with an axis having different values for x, y, and z, and specified in a frame on the model.
+* `joint_revolute_default_limits`
+  * A model with two links connected by a revolute joint, having no joint limits specified on its axis.
+* `joint_revolute_two_joints_two_links`
+  * A model with two links connected by two revolute joints, effectively rigidly connecting the two.
+* `joint_screw`
+  * A model with two links connected by a screw joint.
+* `joint_universal`
+  * A model with two links connected by a universal joint.
+
+### Links
+
+* `link_inertia`
+  * A link having an inerta with a different value for each of it's 6 components.
+* `link_light_point`
+  * A model with a single link having a point light attached to it.
+* `link_multiple_collisions`
+  * A model with a single link having multiple collision elements on it.
+* `link_multiple_visuals`
+  * A model with a single link having multile visual elements on it.
+* `link_sensor_imu`
+  * A model with a single link having an IMU sensor attached to it.
+
+### Kinematic structures
+
+* `graph_chain`
+  * A model having a chain of 3 links connected in series with revolute joints.
+* `graph_chain_non_canonical_root`
+  * A model having a chain of 3 links connected in series with revolute joints, but the canonical link is not the root of the chain.
+* `graph_four_bar`
+  * A four-bar linkage made with four links connected by 4 revolute joints.
+* `graph_loop`
+  * A model having three links connected by 3 joints to form a triangle.
+* `graph_tree`
+  * A model with multiple links connected by joints forming a tree.
+* `graph_tree_non_canonical_root`
+  * A model with multiple links connected by joints forming a tree, but the canonical link is not the root of the tree.
+
+### Poses and Frames
+
+* `pose_chain`
+  * A chain of links connected by joints, where every link and joint in the chain has a non-zero pose.
+* `pose_collision`
+  * A single-link model where only the collision has a non-zero pose.
+* `pose_collision_in_frame`
+  * A single-link model where only the collision has a non-zero pose, and that pose is given in a frame on the model.
+* `pose_inertial`
+  * A single-link model where only the inertial has a non-zero pose.
+* `pose_inertial_in_frame`
+  * A single-link model where only the inertial has a non-zero pose, and that pose is given in a frame on the model.
+* `pose_joint`
+  * A model having two links and a revolute joint, where only the joint has a non-zero pose.
+* `pose_joint_all`
+  * A model having two links and a revolute joint, with non-zero poses on all including the inertials, visuals, and collisions.
+* `pose_joint_in_frame`
+  * A model having two links and a revolute joint, where only the joint has a non-zero pose, and that pose is given in a frame on the model.
+* `pose_link`
+  * A single-link model where only the link has a non-zero pose.
+* `pose_link_all`
+  * A single-link model where the link, visual, collision, and inertial elements all have poses.
+* `pose_link_in_frame`
+  * A single-link model where only the link has a non-zero pose, and that pose is given in a frame on the model.
+* `pose_model`
+  * A single-link model where the model itself has a non-zero pose.
+* `pose_visual`
+  * A single-link model where only the visual has a non-zero pose.
+* `pose_visual_in_frame`
+  * A single-link model where only the visual has a non-zero pose, and that pose is given in a frame on the model.
+
+### Models
+
+* `model_two_models`
+  * An SDFormat XML file having two models in it.
+* `model_zero_models`
+  * An SDFormat XML file that does not have a model in it.
+
diff --git a/sdformat_test_files/_scripts/README.md.in b/sdformat_test_files/_scripts/README.md.in
@@ -0,0 +1,33 @@
+# SDFormat Test files
+
+This package contains a list of SDFormat files for testing tools that work with SDFormat XML.
+
+## Models
+
+### Geometry
+
+$geometry
+
+### Materials
+
+$materials
+
+### Joints
+
+$joints
+
+### Links
+
+$links
+
+### Kinematic structures
+
+$graphs
+
+### Poses and Frames
+
+$poses
+
+### Models
+
+$models
diff --git a/sdformat_test_files/_scripts/make_readme.py b/sdformat_test_files/_scripts/make_readme.py
@@ -0,0 +1,60 @@
+import string
+import os
+import xml.etree.ElementTree as ET
+
+
+def get_model_name_and_description(path_to_model_dir):
+    tree = ET.parse(os.path.join(path_to_model_dir, 'model.config'))
+    root = tree.getroot()
+    name = root.findall('name')[0].text.strip()
+    description = root.findall('description')[0].text.strip()
+    return (name, description)
+
+
+def models_in_dir(path_to_dir):
+    for path in os.listdir(path_to_dir):
+        abspath = os.path.abspath(os.path.join(path_to_dir, path))
+        if os.path.isdir(abspath) and os.path.isfile(os.path.join(abspath, 'model.config')):
+            yield abspath
+
+
+if __name__ == '__main__':
+    this_dir = os.path.abspath(os.path.dirname(__file__))
+    models_dir = os.path.join(this_dir, '..', 'models')
+
+    template_mapping = {
+        'geometry': [],
+        'materials': [],
+        'joints': [],
+        'links': [],
+        'graphs': [],
+        'poses': [],
+        'models': []
+    }
+
+    for model_path in sorted(models_in_dir(models_dir)):
+        name, desc = get_model_name_and_description(model_path)
+        entry = f'* `{name}`\n  * {desc}'
+        if name.startswith('geometry'):
+            template_mapping['geometry'].append(entry)
+        elif name.startswith('material'):
+            template_mapping['materials'].append(entry)
+        elif name.startswith('joint'):
+            template_mapping['joints'].append(entry)
+        elif name.startswith('link'):
+            template_mapping['links'].append(entry)
+        elif name.startswith('graph'):
+            template_mapping['graphs'].append(entry)
+        elif name.startswith('pose'):
+            template_mapping['poses'].append(entry)
+        elif name.startswith('model'):
+            template_mapping['models'].append(entry)
+        else:
+            raise RuntimeError(f'Unknown model type {name} at {model_path}')
+
+    for key in template_mapping.keys():
+        template_mapping[key] = '\n'.join(template_mapping[key])
+
+    with open(os.path.join(this_dir, 'README.md.in'), 'r') as fin:
+        template = string.Template(fin.read())
+        print(template.substitute(template_mapping))
diff --git a/sdformat_test_files/models/geometry_box/geometry_box.sdf b/sdformat_test_files/models/geometry_box/geometry_box.sdf
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version="1.7">
+  <model name="geometry_box">
+    <link name="link">
+      <visual name="link_visual">
+        <geometry>
+          <box>
+            <size>0.1 0.2 0.4</size>
+          </box>
+        </geometry>
+      </visual>
+      <collision name="link_collision">
+        <geometry>
+          <box>
+            <size>0.1 0.2 0.4</size>
+          </box>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass>1.23</mass>
+        <inertia>
+          <ixx>0.0205</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.017425</iyy>
+          <iyz>0</iyz>
+          <izz>0.005125</izz>
+        </inertia>
+      </inertial>
+    </link>
+  </model>
+</sdf>