Feature Request: Support SDFormat Files

[cohnt]

SDFormat files are quite similar to URDF, and encode very similar information, so hopefully this isn't too challenging a change?

Right now, the easiest approach seems to be spherizing the individual meshes in the SDF, and then pasting in the resulting spheres with appropriate formatting. This has worked for me for simple objects that only required a few spheres, but probably won't scale.

[zkingston]

Hey @cohnt, I think this would be great. Shouldn't be too hard to add.

[zkingston]

@cohnt, could you provide an example SDF file that we could test against?

[cohnt]

Here's a zip file containing the SDF (and supporting meshes) of a WSG Schunk with Finray fingers. It has meshes and primitives, and also a sample spherized version (with the meshes spherized with this codebase, and the primitive spherized by hand).

wsg_finray.zip

[zkingston]

Hacked together #14 - lmk if that works.