Change URI pattern of sample data (e.g., dart://sample/skel/shapes.skel)

dart/utils/SampleResourceRetriever.cpp → dart/utils/DartResourceRetriever.cpp

@@ -28,7 +28,7 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "dart/utils/SampleResourceRetriever.hpp"
+#include "dart/utils/DartResourceRetriever.hpp"
 
 #include <iostream>
 #include <fstream>
@@ -40,15 +40,15 @@ namespace dart {
 namespace utils {
 
 //==============================================================================
-SampleResourceRetriever::SampleResourceRetriever()
+DartResourceRetriever::DartResourceRetriever()
   : mLocalRetriever(std::make_shared<common::LocalResourceRetriever>())
 {
   addDataDirectory(DART_DATA_LOCAL_PATH);
   addDataDirectory(DART_DATA_GLOBAL_PATH);
 }
 
 //==============================================================================
-bool SampleResourceRetriever::exists(const common::Uri& uri)
+bool DartResourceRetriever::exists(const common::Uri& uri)
 {
   std::string relativePath;
   if (!resolveDataUri(uri, relativePath))
@@ -75,7 +75,7 @@ bool SampleResourceRetriever::exists(const common::Uri& uri)
 }
 
 //==============================================================================
-common::ResourcePtr SampleResourceRetriever::retrieve(const common::Uri& uri)
+common::ResourcePtr DartResourceRetriever::retrieve(const common::Uri& uri)
 {
   std::string relativePath;
   if (!resolveDataUri(uri, relativePath))
@@ -102,7 +102,7 @@ common::ResourcePtr SampleResourceRetriever::retrieve(const common::Uri& uri)
 }
 
 //==============================================================================
-void SampleResourceRetriever::addDataDirectory(
+void DartResourceRetriever::addDataDirectory(
     const std::string& dataDirectory)
 {
   // Strip a trailing slash.
@@ -121,16 +121,16 @@ void SampleResourceRetriever::addDataDirectory(
 }
 
 //==============================================================================
-bool SampleResourceRetriever::resolveDataUri(
+bool DartResourceRetriever::resolveDataUri(
   const common::Uri& uri,
   std::string& relativePath) const
 {
-  if (uri.mScheme.get_value_or("file") != "file")
+  if (uri.mScheme.get_value_or("dart") != "dart")
     return false;
 
   if (!uri.mPath)
   {
-    dtwarn << "[SampleResourceRetriever::resolveDataUri] Failed extracting"
+    dtwarn << "[DartResourceRetriever::resolveDataUri] Failed extracting"
               " relative path from URI '" << uri.toString() << "'.\n";
     return false;
   }

dart/utils/SampleResourceRetriever.hpp → dart/utils/DartResourceRetriever.hpp

@@ -28,8 +28,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef DART_UTILS_SAMPLERESOURCERETRIEVER_HPP_
-#define DART_UTILS_SAMPLERESOURCERETRIEVER_HPP_
+#ifndef DART_UTILS_DARTRESOURCERETRIEVER_HPP_
+#define DART_UTILS_DARTRESOURCERETRIEVER_HPP_
 
 #include <unordered_map>
 #include <vector>
@@ -44,14 +44,14 @@ namespace utils {
 ///
 /// Example of a sample data URI:
 /// @code
-/// "file://sample/skel/shapes.skel"
+/// "dart://sample/skel/shapes.skel"
 ///                \______________/
 ///                       |
 ///            file path with respect to
 ///            the sample data directory
 /// @endcode
 ///
-/// SampleResourceRetriever searches files in the following order:
+/// DartResourceRetriever searches files in the following order:
 /// 1) DART_DATA_LOCAL_PATH: path to the data directory in source
 ///    (e.g., [DART_SRC_ROOT]/data/).
 /// 2) DART_DATA_GLOBAL_PATH: path to the data directory installed at a system
@@ -60,21 +60,21 @@ namespace utils {
 /// where DART_DATA_LOCAL_PATH and DART_DATA_GLOBAL_PATH are defined in
 /// config.hpp that are determined in CMake time.
 ///
-class SampleResourceRetriever : public common::ResourceRetriever
+class DartResourceRetriever : public common::ResourceRetriever
 {
 public:
   template <typename... Args>
-  static std::shared_ptr<SampleResourceRetriever> create(Args&&... args)
+  static std::shared_ptr<DartResourceRetriever> create(Args&&... args)
   {
-    return std::make_shared<SampleResourceRetriever>(
+    return std::make_shared<DartResourceRetriever>(
           std::forward<Args>(args)...);
   }
 
   /// Constructor.
-  SampleResourceRetriever();
+  DartResourceRetriever();
 
   /// Destructor.
-  virtual ~SampleResourceRetriever() = default;
+  virtual ~DartResourceRetriever() = default;
 
   // Documentation inherited.
   bool exists(const common::Uri& uri) override;
@@ -94,9 +94,9 @@ class SampleResourceRetriever : public common::ResourceRetriever
   std::vector<std::string> mDataDirectories;
 };
 
-using SampleResourceRetrieverPtr = std::shared_ptr<SampleResourceRetriever>;
+using DartResourceRetrieverPtr = std::shared_ptr<DartResourceRetriever>;
 
 } // namespace utils
 } // namespace dart
 
-#endif // ifndef DART_UTILS_SAMPLERESOURCERETRIEVER_HPP_
+#endif // ifndef DART_UTILS_DARTRESOURCERETRIEVER_HPP_

dart/utils/SkelParser.cpp

@@ -74,7 +74,8 @@
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/dynamics/Marker.hpp"
 #include "dart/utils/XmlHelpers.hpp"
-#include "dart/utils/SampleResourceRetriever.hpp"
+#include "dart/utils/CompositeResourceRetriever.hpp"
+#include "dart/utils/DartResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
@@ -2407,9 +2408,19 @@ common::ResourceRetrieverPtr getRetriever(
   const common::ResourceRetrieverPtr& _retriever)
 {
   if(_retriever)
+  {
     return _retriever;
+  }
   else
-    return SampleResourceRetriever::create();
+  {
+    auto newRetriever = std::make_shared<utils::CompositeResourceRetriever>();
+    newRetriever->addSchemaRetriever(
+          "file", std::make_shared<common::LocalResourceRetriever>());
+    newRetriever->addSchemaRetriever(
+          "dart", DartResourceRetriever::create());
+
+    return DartResourceRetriever::create();
+  }
 }
 
 } // anonymous namespace

dart/utils/VskParser.cpp

@@ -42,7 +42,8 @@
 #include "dart/common/LocalResourceRetriever.hpp"
 #include "dart/common/Uri.hpp"
 #include "dart/dynamics/dynamics.hpp"
-#include "dart/utils/SampleResourceRetriever.hpp"
+#include "dart/utils/CompositeResourceRetriever.hpp"
+#include "dart/utils/DartResourceRetriever.hpp"
 #include "dart/utils/XmlHelpers.hpp"
 
 #define SCALE_VSK 1.0e-3
@@ -1022,10 +1023,20 @@ void tokenize(const std::string& str,
 common::ResourceRetrieverPtr getRetriever(
   const common::ResourceRetrieverPtr& retriever)
 {
-  if(retriever)
+  if (retriever)
+  {
     return retriever;
+  }
   else
-    return SampleResourceRetriever::create();
+  {
+    auto newRetriever = std::make_shared<utils::CompositeResourceRetriever>();
+    newRetriever->addSchemaRetriever(
+          "file", std::make_shared<common::LocalResourceRetriever>());
+    newRetriever->addSchemaRetriever(
+          "dart", DartResourceRetriever::create());
+
+    return DartResourceRetriever::create();
+  }
 }
 
 } // anonymous namespace

dart/utils/sdf/SdfParser.cpp

@@ -62,7 +62,8 @@
 #include "dart/simulation/World.hpp"
 #include "dart/utils/SkelParser.hpp"
 #include "dart/utils/XmlHelpers.hpp"
-#include "dart/utils/SampleResourceRetriever.hpp"
+#include "dart/utils/CompositeResourceRetriever.hpp"
+#include "dart/utils/DartResourceRetriever.hpp"
 
 namespace dart {
 namespace utils {
@@ -1496,10 +1497,20 @@ dynamics::BallJoint::Properties readBallJoint(
 common::ResourceRetrieverPtr getRetriever(
   const common::ResourceRetrieverPtr& retriever)
 {
-  if(retriever)
+  if (retriever)
+  {
     return retriever;
+  }
   else
-    return SampleResourceRetriever::create();
+  {
+    auto newRetriever = std::make_shared<utils::CompositeResourceRetriever>();
+    newRetriever->addSchemaRetriever(
+          "file", std::make_shared<common::LocalResourceRetriever>());
+    newRetriever->addSchemaRetriever(
+          "dart", DartResourceRetriever::create());
+
+    return DartResourceRetriever::create();
+  }
 }
 
 } // anonymous namespace

dart/utils/urdf/DartLoader.cpp

@@ -52,7 +52,7 @@
 #include "dart/dynamics/CylinderShape.hpp"
 #include "dart/dynamics/MeshShape.hpp"
 #include "dart/simulation/World.hpp"
-#include "dart/utils/SampleResourceRetriever.hpp"
+#include "dart/utils/DartResourceRetriever.hpp"
 #include "dart/utils/urdf/URDFTypes.hpp"
 #include "dart/utils/urdf/urdf_world_parser.hpp"
 
@@ -68,7 +68,7 @@ DartLoader::DartLoader()
 {
   mRetriever->addSchemaRetriever("file", mLocalRetriever);
   mRetriever->addSchemaRetriever("package", mPackageRetriever);
-  mRetriever->addSchemaRetriever("file", SampleResourceRetriever::create());
+  mRetriever->addSchemaRetriever("dart", DartResourceRetriever::create());
 }
 
 void DartLoader::addPackageDirectory(const std::string& _packageName,

examples/addDeleteSkels/Main.cpp

@@ -38,7 +38,7 @@
 int main(int argc, char* argv[]) {
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld("file://sample/skel/ground.skel");
+      = dart::utils::SkelParser::readWorld("dart://sample/skel/ground.skel");
   assert(myWorld != nullptr);
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);
   myWorld->setGravity(gravity);

examples/atlasSimbicon/Main.cpp

@@ -52,9 +52,9 @@ int main(int argc, char* argv[])
   // Load ground and Atlas robot and add them to the world
   DartLoader urdfLoader;
   SkeletonPtr ground = urdfLoader.parseSkeleton(
-        "file://sample/sdf/atlas/ground.urdf");
+        "dart://sample/sdf/atlas/ground.urdf");
   SkeletonPtr atlas = SdfParser::readSkeleton(
-        "file://sample/sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
+        "dart://sample/sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
   myWorld->addSkeleton(atlas);
   myWorld->addSkeleton(ground);
 

examples/bipedStand/Main.cpp

@@ -39,7 +39,7 @@
 int main(int argc, char* argv[]) {
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld("file://sample/skel/fullbody1.skel");
+      = dart::utils::SkelParser::readWorld("dart://sample/skel/fullbody1.skel");
   assert(myWorld != nullptr);
 
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);

examples/hybridDynamics/Main.cpp

@@ -38,7 +38,7 @@ int main(int argc, char* argv[])
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(
-        "file://sample/skel/fullbody1.skel");
+        "dart://sample/skel/fullbody1.skel");
   assert(myWorld != nullptr);
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);
   myWorld->setGravity(gravity);

examples/jointConstraints/Main.cpp

@@ -45,7 +45,7 @@ int main(int argc, char* argv[])
   // load a skeleton file
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = utils::SkelParser::readWorld("file://sample/skel/fullbody1.skel");
+      = utils::SkelParser::readWorld("dart://sample/skel/fullbody1.skel");
   assert(myWorld != nullptr);
 
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);

examples/mixedChain/Main.cpp

@@ -47,7 +47,7 @@ int main(int argc, char* argv[])
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(
-          "file://sample/skel/test/test_articulated_bodies_10bodies.skel");
+          "dart://sample/skel/test/test_articulated_bodies_10bodies.skel");
   assert(myWorld != nullptr);
 
   int dof = myWorld->getSkeleton(1)->getNumDofs();

examples/operationalSpaceControl/Main.cpp

@@ -42,9 +42,9 @@ int main(int argc, char* argv[])
   // load skeletons
   dart::utils::DartLoader dl;
   dart::dynamics::SkeletonPtr ground
-      = dl.parseSkeleton("file://sample/urdf/KR5/ground.urdf");
+      = dl.parseSkeleton("dart://sample/urdf/KR5/ground.urdf");
   dart::dynamics::SkeletonPtr robot
-      = dl.parseSkeleton("file://sample/urdf/KR5/KR5 sixx R650.urdf");
+      = dl.parseSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf");
   world->addSkeleton(ground);
   world->addSkeleton(robot);
 

examples/osgExamples/osgAtlasPuppet/osgAtlasPuppet.cpp

@@ -511,7 +511,7 @@ SkeletonPtr createAtlas()
   // Parse in the atlas model
   DartLoader urdf;
   SkeletonPtr atlas =
-      urdf.parseSkeleton("file://sample/sdf/atlas/atlas_v3_no_head.urdf");
+      urdf.parseSkeleton("dart://sample/sdf/atlas/atlas_v3_no_head.urdf");
 
   // Add a box to the root node to make it easier to click and drag
   double scale = 0.25;

examples/osgExamples/osgAtlasSimbicon/main.cpp

@@ -44,9 +44,9 @@ int main()
 
   // Load ground and Atlas robot and add them to the world
   dart::utils::DartLoader urdfLoader;
-  auto ground = urdfLoader.parseSkeleton("file://sample/sdf/atlas/ground.urdf");
+  auto ground = urdfLoader.parseSkeleton("dart://sample/sdf/atlas/ground.urdf");
   auto atlas = dart::utils::SdfParser::readSkeleton(
-        "file://sample/sdf/atlas/atlas_v3_no_head.sdf");
+        "dart://sample/sdf/atlas/atlas_v3_no_head.sdf");
   world->addSkeleton(ground);
   world->addSkeleton(atlas);
 

examples/osgExamples/osgOperationalSpaceControl/osgOperationalSpaceControl.cpp

@@ -253,7 +253,7 @@ int main()
 
   // Load the robot
   dart::dynamics::SkeletonPtr robot =
-      loader.parseSkeleton("file://sample/urdf/KR5/KR5 sixx R650.urdf");
+      loader.parseSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf");
   world->addSkeleton(robot);
 
   // Set the colors of the models to obey the shape's color specification
@@ -275,7 +275,7 @@ int main()
 
   // Load the ground
   dart::dynamics::SkeletonPtr ground =
-      loader.parseSkeleton("file://sample/urdf/KR5/ground.urdf");
+      loader.parseSkeleton("dart://sample/urdf/KR5/ground.urdf");
   world->addSkeleton(ground);
 
   // Rotate and move the ground so that z is upwards

examples/osgExamples/osgSoftBodies/osgSoftBodies.cpp

@@ -212,7 +212,7 @@ int main()
   using namespace dart::dynamics;
 
   dart::simulation::WorldPtr world =
-      dart::utils::SkelParser::readWorld("file://sample/skel/softBodies.skel");
+      dart::utils::SkelParser::readWorld("dart://sample/skel/softBodies.skel");
 
   osg::ref_ptr<RecordingWorld> node = new RecordingWorld(world);
 

examples/rigidChain/Main.cpp

@@ -36,7 +36,7 @@
 int main(int argc, char* argv[]) {
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld("file://sample/skel/chain.skel");
+      = dart::utils::SkelParser::readWorld("dart://sample/skel/chain.skel");
   assert(myWorld != nullptr);
 
   // create and initialize the world

examples/rigidLoop/Main.cpp

@@ -44,7 +44,7 @@ int main(int argc, char* argv[])
   // load a skeleton file
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-    = utils::SkelParser::readWorld("file://sample/skel/chain.skel");
+    = utils::SkelParser::readWorld("dart://sample/skel/chain.skel");
   assert(myWorld != nullptr);
 
   // create and initialize the world

examples/rigidShapes/Main.cpp

@@ -46,7 +46,7 @@ int main(int argc, char* argv[])
   // load a skeleton file
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
-      = dart::utils::SkelParser::readWorld("file://sample/skel/shapes.skel");
+      = dart::utils::SkelParser::readWorld("dart://sample/skel/shapes.skel");
   assert(myWorld != NULL);
 
   // create a window and link it to the world

examples/softBodies/Main.cpp

@@ -47,7 +47,7 @@ int main(int argc, char* argv[])
   // create and initialize the world
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(
-        "file://sample/skel/softBodies.skel");
+        "dart://sample/skel/softBodies.skel");
   assert(myWorld != nullptr);
 
   for(std::size_t i=0; i<myWorld->getNumSkeletons(); ++i)