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Introduce sdformat semantics for Drake's visual roles #22013

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Introduce sdformat semantics for Drake's visual roles #22013

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151 changes: 151 additions & 0 deletions geometry/render/test/configure_visual_roles.sdf
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<?xml version="1.0"?>
<!-- This contains multiple examples of configuring visual roles for Drake. -->
<sdf version="1.7">
<model name="visual_model">

<link name="both_roles_by_default">
<visual name="visual">
<!-- The mesh geometry only has illustration properties. -->
<geometry>
<mesh>
<uri>package://drake/geometry/render/test/meshes/box.obj</uri>
</mesh>
</geometry>
<!-- Saying nothing opts in to both roles. -->
</visual>
</link>

<link name="both_roles_with_redundant_specification">
<visual name="visual">
<!-- The mesh geometry only has illustration properties. -->
<geometry>
<mesh>
<uri>package://drake/geometry/render/test/meshes/box.obj</uri>
</mesh>
</geometry>
<!-- This is redundant; illustration_properties is still enabled.
However, it will *not* generate any warning. -->
<drake:perception_properties enabled="true"/>
</visual>
</link>

<link name="illustration_only">
<visual name="visual">
<!-- The mesh geometry only has illustration properties. -->
<geometry>
<mesh>
<uri>package://drake/geometry/render/test/meshes/box.obj</uri>
</mesh>
</geometry>
<!-- This opts out of the perception role. Change this to
drake:illustration_properties to opt out of the illustration role. -->
<drake:perception_properties enabled="false"/>
</visual>
</link>

<link name="disabled_geometry_warning">
<visual name="visual">
<!-- The mesh geometry only has no visual properties. -->
<geometry>
<mesh>
<uri>package://drake/geometry/render/test/meshes/box.obj</uri>
</mesh>
</geometry>
<!-- Opt out of both roles; parsing this should print a warning about
an unused geomtery. -->
<drake:perception_properties enabled="false"/>
<drake:illustration_properties enabled="false"/>
</visual>
</link>

<link name="different_colors">
<visual name="visual">
<!-- The box geometry has different colors based on role. -->
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<drake:illustration_properties>
<drake:diffuse>1 0 0</drake:diffuse>
</drake:illustration_properties>
<drake:perception_properties>
<drake:diffuse>0 1 0</drake:diffuse>
</drake:perception_properties>
</visual>
</link>

<link name="alternate_geometry">
<visual name="visual">
<!-- The default geometry is the mesh, but gets replaced with a sphere
for illustration. The illustration sphere is offset relative to the
visual frame V in the +Vx direction.-->
<geometry>
<mesh>
<uri>package://drake/geometry/render/test/meshes/box.obj</uri>
</mesh>
</geometry>
<drake:illustration_properties>
<pose>1 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</drake:illustration_properties>
</visual>
</link>

<link name="alternate_geometry_warning">
<visual name="visual">
<!-- The <visual><geometry> has been replaced in both role declarations.
Parsing this generates a warning about the unused geometry. -->
<geometry>
<mesh>
<uri>package://drake/geometry/render/test/meshes/box.obj</uri>
</mesh>
</geometry>
<drake:illustration_properties>
<pose>1 0 0 0 0 0</pose>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</drake:illustration_properties>
<drake:perception_properties>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</drake:perception_properties>
</visual>
</link>

<link name="drake_only_geometry">
<visual name="visual">
<!-- The <visual><geometry> has been omitted; Drake has enough
information, but the model has been made *so* Drake specific, it will
be meaningless in any other sdformat applications. This gets a warning.
-->
<drake:illustration_properties>
<pose>1 0 0 0 0 0</pose>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</drake:illustration_properties>
<drake:perception_properties>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</drake:perception_properties>
</visual>
</link>

</model>
</sdf>