From 1293f6596cb7af26fcf935f7a549d2614a53d926 Mon Sep 17 00:00:00 2001
From: "Rick Poyner (rico)" <rick.poyner@tri.global>
Date: Thu, 27 Jan 2022 14:27:18 -0500
Subject: [PATCH] sdf, urdf: Add/canonicalize xmlns: declarations (#16446)

* sdf, urdf: Add/canonicalize xmlns: declarations

Relevant to: #13314

This patch makes it possible to interrogate drake-extended model files
with standard XML tools, which is useful when composing and verifying
documentation.
---
 bindings/pydrake/multibody/test/hydroelastic.sdf                | 2 +-
 examples/atlas/urdf/atlas_convex_hull.urdf                      | 2 +-
 manipulation/models/franka_description/urdf/panda_arm.urdf      | 2 +-
 manipulation/models/franka_description/urdf/panda_arm_hand.urdf | 2 +-
 .../models/iiwa_description/sdf/iiwa14_no_collision.sdf         | 2 +-
 .../models/iiwa_description/sdf/iiwa14_polytope_collision.sdf   | 2 +-
 .../contact_solvers/test/particle_with_infinite_inertia.sdf     | 2 +-
 multibody/parsing/test/detail_scene_graph_test.cc               | 2 +-
 multibody/parsing/test/links_with_visuals_and_collisions.sdf    | 2 +-
 multibody/parsing/test/links_with_visuals_and_collisions.urdf   | 2 +-
 .../parsing/test/process_model_directives_test/simple_model.sdf | 2 +-
 .../test/sdf_parser_test/all_geometries_as_collision.sdf        | 2 +-
 .../parsing/test/sdf_parser_test/all_geometries_as_visual.sdf   | 2 +-
 .../sdf_parser_test/collision_filter_group_parsing_test.sdf     | 2 +-
 multibody/parsing/test/sdf_parser_test/joint_parsing_test.sdf   | 2 +-
 multibody/parsing/test/urdf_parser_test/accepting_renderer.urdf | 2 +-
 .../test/urdf_parser_test/all_geometries_as_collision.urdf      | 2 +-
 .../parsing/test/urdf_parser_test/all_geometries_as_visual.urdf | 2 +-
 .../urdf_parser_test/collision_filter_group_parsing_test.urdf   | 2 +-
 .../test/urdf_parser_test/convex_and_nonconvex_test.urdf        | 2 +-
 multibody/parsing/test/urdf_parser_test/joint_parsing_test.urdf | 2 +-
 .../urdf_parser_test/joint_parsing_test_tag_mismatch_1.urdf     | 2 +-
 multibody/plant/test/atlas_with_fixed_joints.urdf               | 2 +-
 23 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/bindings/pydrake/multibody/test/hydroelastic.sdf b/bindings/pydrake/multibody/test/hydroelastic.sdf
index 0498e4c840a1..1858ce89730b 100644
--- a/bindings/pydrake/multibody/test/hydroelastic.sdf
+++ b/bindings/pydrake/multibody/test/hydroelastic.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <!--
   This is based on the model generated by `ConstructTwoFreeBodiesPlant()`
   in `inverse_kinematics_test_utilities.cc`.
diff --git a/examples/atlas/urdf/atlas_convex_hull.urdf b/examples/atlas/urdf/atlas_convex_hull.urdf
index 6d140871c0df..4c38914dd43d 100644
--- a/examples/atlas/urdf/atlas_convex_hull.urdf
+++ b/examples/atlas/urdf/atlas_convex_hull.urdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="atlas">
+<robot xmlns:drake="http://drake.mit.edu" xmlns:xacro="http://www.ros.org/wiki/xacro" name="atlas">
   <link name="l_clav">
     <inertial>
       <mass value="4.466"/>
diff --git a/manipulation/models/franka_description/urdf/panda_arm.urdf b/manipulation/models/franka_description/urdf/panda_arm.urdf
index ed3b8e504a5a..42e6d52ea306 100644
--- a/manipulation/models/franka_description/urdf/panda_arm.urdf
+++ b/manipulation/models/franka_description/urdf/panda_arm.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document is a hand edited version of the output autogenerated by xacro  | -->
 <!-- |    from panda_arm.urdf.xacro                                                         | -->
 <!-- =================================================================================== -->
-<robot name="panda">
+<robot xmlns:drake="http://drake.mit.edu" name="panda">
   <link name="panda_link0">
     <inertial>
       <mass value="2.92"/>
diff --git a/manipulation/models/franka_description/urdf/panda_arm_hand.urdf b/manipulation/models/franka_description/urdf/panda_arm_hand.urdf
index 0a179223e350..db690e9bc4c1 100644
--- a/manipulation/models/franka_description/urdf/panda_arm_hand.urdf
+++ b/manipulation/models/franka_description/urdf/panda_arm_hand.urdf
@@ -3,7 +3,7 @@
 <!-- |    This document is a hand edited version of the output autogenerated by xacro  | -->
 <!-- |    from panda_arm_hand.urdf.xacro                                               | -->
 <!-- =================================================================================== -->
-<robot name="panda">
+<robot xmlns:drake="http://drake.mit.edu" name="panda">
   <link name="panda_link0">
     <inertial>
       <mass value="2.92"/>
diff --git a/manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf b/manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf
index a49794d66b8d..53d8bbd5f48e 100644
--- a/manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf
+++ b/manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf
@@ -7,7 +7,7 @@ Later edited by hand to:
 * remove damping from the joints
 * use pose frame semantics to reflect URDF pose values.
 -->
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <model name="iiwa14">
     <link name="iiwa_link_0">
       <inertial>
diff --git a/manipulation/models/iiwa_description/sdf/iiwa14_polytope_collision.sdf b/manipulation/models/iiwa_description/sdf/iiwa14_polytope_collision.sdf
index 0b3aeb7845fe..220bc5a0d9a8 100644
--- a/manipulation/models/iiwa_description/sdf/iiwa14_polytope_collision.sdf
+++ b/manipulation/models/iiwa_description/sdf/iiwa14_polytope_collision.sdf
@@ -4,7 +4,7 @@ SDF automatically generated with: gz sdf -p ../urdf/iiwa14_polytope_collision.ur
 
 Later edited by hand to rename the base link and remove damping from the joints.
 -->
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <model name="iiwa14">
     <link name="iiwa_link_0">
       <inertial>
diff --git a/multibody/contact_solvers/test/particle_with_infinite_inertia.sdf b/multibody/contact_solvers/test/particle_with_infinite_inertia.sdf
index d621bacf9504..5c9aad450cc6 100644
--- a/multibody/contact_solvers/test/particle_with_infinite_inertia.sdf
+++ b/multibody/contact_solvers/test/particle_with_infinite_inertia.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.6">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.6">
   <model name="Particle">
     <!-- Particle of mass m = 0.5 Kg and zero size. 
     In Drake we model it as a 6DOF body, with infinite moments of inertia so
diff --git a/multibody/parsing/test/detail_scene_graph_test.cc b/multibody/parsing/test/detail_scene_graph_test.cc
index f36e8ea07975..b4a43fe65213 100644
--- a/multibody/parsing/test/detail_scene_graph_test.cc
+++ b/multibody/parsing/test/detail_scene_graph_test.cc
@@ -390,7 +390,7 @@ GTEST_TEST(SceneGraphParserDetail, MakeMeshFromSdfGeometry) {
 GTEST_TEST(SceneGraphParserDetail, MakeConvexFromSdfGeometry) {
   const std::string absolute_file_path = "path/to/some/mesh.obj";
   unique_ptr<sdf::Geometry> sdf_geometry = MakeSdfGeometryFromString(
-      "<mesh xmlns:drake='drake.mit.edu'>"
+      "<mesh xmlns:drake='http://drake.mit.edu'>"
       "  <drake:declare_convex/>"
       "  <uri>" + absolute_file_path + "</uri>"
       "  <scale> 3 3 3 </scale>"
diff --git a/multibody/parsing/test/links_with_visuals_and_collisions.sdf b/multibody/parsing/test/links_with_visuals_and_collisions.sdf
index cb8cd207ec69..34e5f056e2e5 100644
--- a/multibody/parsing/test/links_with_visuals_and_collisions.sdf
+++ b/multibody/parsing/test/links_with_visuals_and_collisions.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <model name="test_robot">
     <!-- This sdf file defines a simple test robot with multiple links so that
          we can test visuals and collisions are properly added to each link.
diff --git a/multibody/parsing/test/links_with_visuals_and_collisions.urdf b/multibody/parsing/test/links_with_visuals_and_collisions.urdf
index 29255dcc8660..a7bc782d54c4 100644
--- a/multibody/parsing/test/links_with_visuals_and_collisions.urdf
+++ b/multibody/parsing/test/links_with_visuals_and_collisions.urdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="test_robot">
+<robot xmlns:drake="http://drake.mit.edu" name="test_robot">
   <!-- This urdf file defines a simple test robot with multiple links so that
        we can test visuals and collisions are properly added to each link.
        Values in <inertial> are not important for this test model since
diff --git a/multibody/parsing/test/process_model_directives_test/simple_model.sdf b/multibody/parsing/test/process_model_directives_test/simple_model.sdf
index 90e709ee4775..7b1ec74717d3 100644
--- a/multibody/parsing/test/process_model_directives_test/simple_model.sdf
+++ b/multibody/parsing/test/process_model_directives_test/simple_model.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <model name="scoped_model">
     <link name="base">
       <inertial>
diff --git a/multibody/parsing/test/sdf_parser_test/all_geometries_as_collision.sdf b/multibody/parsing/test/sdf_parser_test/all_geometries_as_collision.sdf
index 8de6e99620ab..d6db1f5394d1 100644
--- a/multibody/parsing/test/sdf_parser_test/all_geometries_as_collision.sdf
+++ b/multibody/parsing/test/sdf_parser_test/all_geometries_as_collision.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <model name="test_robot">
     <!-- This sdf file defines a simple test robot with a single link that
          contains one collision tag for each supported geometry type. We're
diff --git a/multibody/parsing/test/sdf_parser_test/all_geometries_as_visual.sdf b/multibody/parsing/test/sdf_parser_test/all_geometries_as_visual.sdf
index 12cd2d621ec7..1a12ce6d6a3c 100644
--- a/multibody/parsing/test/sdf_parser_test/all_geometries_as_visual.sdf
+++ b/multibody/parsing/test/sdf_parser_test/all_geometries_as_visual.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <model name="test_robot">
     <!-- This sdf file defines a simple test robot with a single link that
          contains one visual tag for each supported geometry type. We're
diff --git a/multibody/parsing/test/sdf_parser_test/collision_filter_group_parsing_test.sdf b/multibody/parsing/test/sdf_parser_test/collision_filter_group_parsing_test.sdf
index 5841e06e1e25..f2a390e0c00f 100644
--- a/multibody/parsing/test/sdf_parser_test/collision_filter_group_parsing_test.sdf
+++ b/multibody/parsing/test/sdf_parser_test/collision_filter_group_parsing_test.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<sdf version='1.7'>
+<sdf xmlns:drake="http://drake.mit.edu" version='1.7'>
   <model name='collision_filter_group_parsing_test'>
     <link name='link1'>
       <inertial>
diff --git a/multibody/parsing/test/sdf_parser_test/joint_parsing_test.sdf b/multibody/parsing/test/sdf_parser_test/joint_parsing_test.sdf
index b0fe31d73076..f96e80d650ca 100644
--- a/multibody/parsing/test/sdf_parser_test/joint_parsing_test.sdf
+++ b/multibody/parsing/test/sdf_parser_test/joint_parsing_test.sdf
@@ -2,7 +2,7 @@
 <!--
 Defines an SDF model with various types of joints used for testing the parser.
 -->
-<sdf version="1.7">
+<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
   <world name="joint_parsing_test_world">
     <model name="joint_parsing_test">
       <link name="link1">
diff --git a/multibody/parsing/test/urdf_parser_test/accepting_renderer.urdf b/multibody/parsing/test/urdf_parser_test/accepting_renderer.urdf
index 988240652e75..9192176ace1c 100644
--- a/multibody/parsing/test/urdf_parser_test/accepting_renderer.urdf
+++ b/multibody/parsing/test/urdf_parser_test/accepting_renderer.urdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="non_conflicting_materials_1">
+<robot xmlns:drake="http://drake.mit.edu" name="non_conflicting_materials_1">
   <material name="brown">
     <color rgba="0.93333333333 0.79607843137 0.67843137254 1"/>
   </material>
diff --git a/multibody/parsing/test/urdf_parser_test/all_geometries_as_collision.urdf b/multibody/parsing/test/urdf_parser_test/all_geometries_as_collision.urdf
index ef23cd443958..30dbde287fa5 100644
--- a/multibody/parsing/test/urdf_parser_test/all_geometries_as_collision.urdf
+++ b/multibody/parsing/test/urdf_parser_test/all_geometries_as_collision.urdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="test_robot">
+<robot xmlns:drake="http://drake.mit.edu" name="test_robot">
   <!-- This urdf file defines a simple test robot with a single link that
        contains one collision tag for each supported geometry type. We're
        confirming that each geometry declaration produces a corresponding
diff --git a/multibody/parsing/test/urdf_parser_test/all_geometries_as_visual.urdf b/multibody/parsing/test/urdf_parser_test/all_geometries_as_visual.urdf
index c76b122e0046..ed66163eff07 100644
--- a/multibody/parsing/test/urdf_parser_test/all_geometries_as_visual.urdf
+++ b/multibody/parsing/test/urdf_parser_test/all_geometries_as_visual.urdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="test_robot">
+<robot xmlns:drake="http://drake.mit.edu" name="test_robot">
   <!-- This urdf file defines a simple test robot with a single link that
        contains one collision tag for each supported geometry type. We're
        confirming that each geometry declaration produces a corresponding
diff --git a/multibody/parsing/test/urdf_parser_test/collision_filter_group_parsing_test.urdf b/multibody/parsing/test/urdf_parser_test/collision_filter_group_parsing_test.urdf
index d56a71717f1b..34c7f85b1f52 100644
--- a/multibody/parsing/test/urdf_parser_test/collision_filter_group_parsing_test.urdf
+++ b/multibody/parsing/test/urdf_parser_test/collision_filter_group_parsing_test.urdf
@@ -2,7 +2,7 @@
 <!--
 Defines a URDF model with collision filter groups.
 -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="collision_filter_group_parsing_test">
+<robot xmlns:drake="http://drake.mit.edu" xmlns:xacro="http://ros.org/wiki/xacro" name="collision_filter_group_parsing_test">
   <link name="link1">
     <inertial>
       <mass value="1"/>
diff --git a/multibody/parsing/test/urdf_parser_test/convex_and_nonconvex_test.urdf b/multibody/parsing/test/urdf_parser_test/convex_and_nonconvex_test.urdf
index 1db06982f7b8..f858adcc737c 100644
--- a/multibody/parsing/test/urdf_parser_test/convex_and_nonconvex_test.urdf
+++ b/multibody/parsing/test/urdf_parser_test/convex_and_nonconvex_test.urdf
@@ -5,7 +5,7 @@ This URDF contains a single link with, in order:
 2) A mesh that is not declared to be either, which should parse into
   geometry::Mesh.
 -->
-<robot xmlns:drake="drake.mit.edu" name="non_conflicting_materials_2">
+<robot xmlns:drake="http://drake.mit.edu" name="non_conflicting_materials_2">
   <link name="base_link">
     <collision>
       <geometry>
diff --git a/multibody/parsing/test/urdf_parser_test/joint_parsing_test.urdf b/multibody/parsing/test/urdf_parser_test/joint_parsing_test.urdf
index fba0b5c05442..5429f0370c2c 100644
--- a/multibody/parsing/test/urdf_parser_test/joint_parsing_test.urdf
+++ b/multibody/parsing/test/urdf_parser_test/joint_parsing_test.urdf
@@ -2,7 +2,7 @@
 <!--
 Defines a URDF model with various types of joints.
 -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="joint_parsing_test">
+<robot xmlns:drake="http://drake.mit.edu" xmlns:xacro="http://ros.org/wiki/xacro" name="joint_parsing_test">
   <link name="link1">
     <inertial>
       <mass value="1"/>
diff --git a/multibody/parsing/test/urdf_parser_test/joint_parsing_test_tag_mismatch_1.urdf b/multibody/parsing/test/urdf_parser_test/joint_parsing_test_tag_mismatch_1.urdf
index 3e782ffcd355..cb9759548546 100644
--- a/multibody/parsing/test/urdf_parser_test/joint_parsing_test_tag_mismatch_1.urdf
+++ b/multibody/parsing/test/urdf_parser_test/joint_parsing_test_tag_mismatch_1.urdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="joint_parsing_tag_mismatch_test_1">
+<robot xmlns:drake="http://drake.mit.edu" xmlns:xacro="http://ros.org/wiki/xacro" name="joint_parsing_tag_mismatch_test_1">
   <link name="link1"/>
   <link name="link2"/>
   <drake:joint name="fixed_joint" type="fixed">
diff --git a/multibody/plant/test/atlas_with_fixed_joints.urdf b/multibody/plant/test/atlas_with_fixed_joints.urdf
index 2d2d2d1bcc4d..c4e3d481c65a 100644
--- a/multibody/plant/test/atlas_with_fixed_joints.urdf
+++ b/multibody/plant/test/atlas_with_fixed_joints.urdf
@@ -8,7 +8,7 @@
      fine after the fix in #13953.
      TODO(sherm1) Use the original file plus a patch or in-memory editing
                   rather than this complete copy (issue #13954). -->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="atlas">
+<robot xmlns:drake="http://drake.mit.edu" xmlns:xacro="http://www.ros.org/wiki/xacro" name="atlas">
   <link name="l_clav">
     <inertial>
       <mass value="4.466"/>