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hydroelastic: Links to SDFormat and URDF specification are broken? #14107

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EricCousineau-TRI opened this issue Sep 22, 2020 · 7 comments · Fixed by #16522
Closed

hydroelastic: Links to SDFormat and URDF specification are broken? #14107

EricCousineau-TRI opened this issue Sep 22, 2020 · 7 comments · Fixed by #16522
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@joemasterjohn @rpoyner-tri
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component: geometry proximity Contact, distance, signed distance queries and related properties priority: high type: documentation unused team: dynamics
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#dynamics-dev

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@EricCousineau-TRI
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EricCousineau-TRI commented Sep 22, 2020 •
edited

As of master @ 598ab9c, I tried to click on the following links:
https://drake.mit.edu/doxygen_cxx/classdrake_1_1multibody_1_1_multibody_plant.html#mbp_hydroelastic_materials_properties

image

But those links appear to be broken; here's the HTML from the rendered Doxygen:

define them in an input URDF/SDF as detailed <a class="el" href="/media/ephemeral0/ubuntu/workspace/linux-bionic-gcc-bazel-nightly-documentation/src/doxygen_tmp/input/drake/multibody/parsing/detail_scene_graph.h.html#sdf_contact_material">here for SDF</a> or <a class="el" href="/media/ephemeral0/ubuntu/workspace/linux-bionic-gcc-bazel-nightly-documentation/src/doxygen_tmp/input/drake/multibody/parsing/detail_urdf_geometry.h.html#urdf_contact_material">here for URDF</a>.
@EricCousineau-TRI EricCousineau-TRI changed the title hydroelastic: Links to SDFormat and URDf specification are broken? hydroelastic: Links to SDFormat and URDF specification are broken? Sep 22, 2020
@EricCousineau-TRI
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Here's that text in source:

drake/multibody/plant/multibody_plant.h

Lines 1412 to 1413 in 598ab9c

/// - define them in an input URDF/SDF as detailed @ref sdf_contact_material
/// "here for SDF" or @ref urdf_contact_material "here for URDF".

And here're the two anchors that are referred to:

drake/multibody/parsing/detail_urdf_geometry.h

Line 137 in 598ab9c

/** @anchor urdf_contact_material

drake/multibody/parsing/detail_scene_graph.h

Line 124 in 598ab9c

/** @anchor sdf_contact_material

FYI @SeanCurtis-TRI

@SeanCurtis-TRI
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I'm surprised they render as links. They end up linking into internal code. In my mind, this is part of #13314 (although it's not explicitly enumerated there).

@EricCousineau-TRI EricCousineau-TRI added component: geometry proximity Contact, distance, signed distance queries and related properties type: documentation labels Sep 22, 2020
@jwnimmer-tri
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Is this a duplicate of #14054?

@EricCousineau-TRI
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Ah, makes sense. Reassigning, as it's just a "What's documented publicly" question.

@EricCousineau-TRI
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@jwnimmer-tri Yup, seems so. Though this issue, with Sean's reference to #13314, I'd say the root-cause is a bit more clear?

@EricCousineau-TRI EricCousineau-TRI mentioned this issue Sep 22, 2020
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@SeanCurtis-TRI SeanCurtis-TRI mentioned this issue Sep 25, 2020
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@EricCousineau-TRI EricCousineau-TRI mentioned this issue Nov 12, 2020
Merged
@SeanCurtis-TRI
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This should get resolved by writing the user guide specified in #15796. I'm leaving it open until then.

@jwnimmer-tri jwnimmer-tri added this to To Do - important in #dynamics-dev Jan 21, 2022
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 26, 2022
@rpoyner-tri
[multibody] Document Parser file format details
8c5fe6f 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
@rpoyner-tri rpoyner-tri mentioned this issue Jan 26, 2022
Merged
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 27, 2022
@rpoyner-tri
[multibody] Document Parser file format details
0d294bf 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 27, 2022
@rpoyner-tri
[multibody] Document Parser file format details
c9810cc 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 28, 2022
@rpoyner-tri
[multibody] Document Parser file format details
a124ea4 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 28, 2022
@rpoyner-tri
[multibody] Document Parser file format details
5c88d69 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 28, 2022
@rpoyner-tri
[multibody] Document Parser file format details
1883aee 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 28, 2022
@rpoyner-tri
[multibody] Document Parser file format details
0a332d2 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 28, 2022
@rpoyner-tri
[multibody] Document Parser file format details
8ba6e1e 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 28, 2022
@rpoyner-tri
[multibody] Document Parser file format details
aadf2ae 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 29, 2022
@rpoyner-tri
[multibody] Document Parser file format details
5e5cccb 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 31, 2022
@rpoyner-tri
[multibody] Document Parser file format details
b3c04f7 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Jan 31, 2022
@rpoyner-tri
[multibody] Document Parser file format details
088d54b 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 1, 2022
@rpoyner-tri
[multibody] Document Parser file format details
103d543 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 1, 2022
@rpoyner-tri
[multibody] Document Parser file format details
49e1efe 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 1, 2022
@rpoyner-tri
[multibody] Document Parser file format details
ebcf293 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 1, 2022
@rpoyner-tri
[multibody] Document Parser file format details
fc345ff 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 1, 2022
@rpoyner-tri
[multibody] Document Parser file format details
c183aa2 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 1, 2022
@rpoyner-tri
[multibody] Document Parser file format details
1c7a6b7 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions, and all of the standard unsupported
tags. Give at least some hyperlinks to help discovery of the new documentation;
more links may be added later.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 1, 2022
@rpoyner-tri
[multibody] Document Parser file format details
e0e008f 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
@rpoyner-tri
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Contributor

Another possibility is to link both of them to the drake:proximity_properties section in the parsing reference. Such a resolution would depend on #16444.

rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 2, 2022
@rpoyner-tri
[multibody] Document Parser file format details
d72fa89 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 2, 2022
@rpoyner-tri
[multibody] Document Parser file format details
3fad66f 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 3, 2022
@rpoyner-tri
[multibody] Document Parser file format details
220b44a 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 3, 2022
@rpoyner-tri
[multibody] Document Parser file format details
373c65a 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 3, 2022
@rpoyner-tri
[multibody] Document Parser file format details
f792859 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 4, 2022
@rpoyner-tri
[multibody] Document Parser file format details
0471cf6 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 4, 2022
@rpoyner-tri
[multibody] Document Parser file format details
fff8df6 
Relevant to: RobotLocomotion#13314, RobotLocomotion#16229, RobotLocomotion#14107, RobotLocomotion#12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
rpoyner-tri added a commit that referenced this issue Feb 4, 2022
@rpoyner-tri
[multibody] Document Parser file format details (#16444)
09833aa 
* [multibody] Document Parser file format details

Relevant to: #13314, #16229, #14107, #12610

Document all of the drake extensions. Give at least some hyperlinks to help
discovery of the new documentation; more links may be added later.

Space is indicated for a future effort to enumerate the standard tags Drake
does not support.

Also augment the URDF parsing to accept both //capsule and //drake:capsule.
@rpoyner-tri rpoyner-tri self-assigned this Feb 4, 2022
rpoyner-tri added a commit to rpoyner-tri/drake that referenced this issue Feb 4, 2022
@rpoyner-tri
[doc] Fix broken links in multibody doc
5fa61bc 
Closes: RobotLocomotion#14107

Revise links to point to the parsing reference, and modernize
instances of "SDF" to "SDFormat".
@rpoyner-tri rpoyner-tri mentioned this issue Feb 4, 2022
Merged
@rpoyner-tri rpoyner-tri moved this from To Do - important to In Progress in #dynamics-dev Feb 4, 2022
jwnimmer-tri pushed a commit that referenced this issue Feb 5, 2022
@rpoyner-tri
[doc] Fix broken links in multibody doc (#16522)
d302fe2 
Closes: #14107

Revise links to point to the parsing reference, and modernize
instances of "SDF" to "SDFormat".
@jwnimmer-tri jwnimmer-tri moved this from In Progress to Done in #dynamics-dev Feb 5, 2022
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component: geometry proximity Contact, distance, signed distance queries and related properties priority: high type: documentation unused team: dynamics
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[doc] Fix broken links in multibody doc rpoyner-tri/drake
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@jamiesnape @joemasterjohn @rpoyner-tri @jwnimmer-tri @SeanCurtis-TRI @EricCousineau-TRI