Model Version Control

Adding Model Artifacts in Pull Requests

Model artifacts have the potential to be very large, and we should avoid committing large files directly to Git.

If your model’s files are small enough (<100KB in a given directory), then you may add them directly to Git in a PR to master.

Otherwise, you should add the large files to RobotLocomotion/models. Please do not commit files that are generally small, like *.sdf or *.urdf files, in RobotLocomotion/models; instead, please commit those directly.

Before you decide to submit models, please ensure that you have tests that will need them. Do not submit a PR that adds models but has zero intent to use them, as Drake is not a model repository.

See below for the suggested workflow.

Develop Changes Locally

  1. Clone RobotLocomotion/models locally
  2. Create a Git branch in your local checkouts of both models and drake.
  3. Update drake/tools/workspace/models/repository.bzl to point to your models checkout using github_archive(..., local_repository_override = <path>).
  4. Update drake/tools/workspace/models/files.bzl to incorporate the models you want.
  5. Ensure that you use forward_files to make the files available inside the Drake bazel workspace. For an example, see drake/manipulation/models/ycb/BUILD.bazel.
  6. Ensure your tests pass under bazel test.

Submit Changes in a Pull Request

  1. Push your changes to your fork of RobotLocomotion/models. Make a PR.
  2. Update drake/tools/workspace/models/models/repository.bzl to use the commit you pushed.
  3. Submit a PR to Drake, and add a self-blocking discussion thread, such as "Working temporary SHA1 until the models PR <LINK> is merged.", where <LINK> references your models PR.
  4. Get review on your Drake PR first. Once it is generally approved, then request review for your models PR.
  5. Once both PRs are approved:
    1. Merge your models PR.
    2. Update drake/tools/workspace/models/repository.bzl to the latest merge commit on master for RobotLocomotion/models.
    3. Merge your drake PR.