CI Fix + In House Models

[JonKach]

I believe there is a bug in the current check_sdf action where it parses for valid SDF on even deleted files. This is part of the failure in my most recent commit to master (there may be other issues as well that I have not yet diagnosed). This PR filters the diff so that actions only parse added or modified files (excludes deleted).

Please review, as I am not that familiar with writing GitHub Actions.

PR also includes models for In House 2026 currently being developed on monorepo user/jonkach/in_house_v2

[Copilot]

🟡 Changes recommended

Critical upload-order risks and unresolved model naming and transform issues must be addressed.

Get a fresh assessment by requesting another Copilot review.

Pull request overview

Updates SDF CI to ignore deleted files and adds four in-house marker models while renaming the in-house world.

Changes:

• Filters deleted files from SDF validation and aggregates parser failures.
• Adds Circle, Square, Star, and Triangle model packages.
• Removes obsolete generated mesh wrappers and updates the world name.

File summaries

File	Summary and findings
worlds/in_house_2026.sdf	Updates the in-house world.
models/InHouse2027Triangle/model.sdf	Adds triangle geometry. Moderate (1 vote): visual and collision transforms are misaligned.
models/InHouse2027Triangle/model.config	Registers the model. Moderate (2 votes): unresolved 2026/2027 naming mismatch. Critical (1 vote): uploader may delete the model without uploading replacements.
models/InHouse2027Triangle/mesh.sdf	Removes obsolete generated wrapper.
models/InHouse2027Star/model.sdf	Adds star geometry. Moderate (1 vote): visual and collision transforms are misaligned.
models/InHouse2027Star/model.config	Registers the model. Moderate (1 vote): unresolved 2026/2027 naming mismatch. Critical (1 vote): uploader may delete the model without uploading replacements.
models/InHouse2027Star/mesh.sdf	Removes obsolete generated wrapper.
models/InHouse2027Square/model.sdf	Adds square geometry.
models/InHouse2027Square/model.config	Registers the model. Moderate (1 vote): unresolved 2026/2027 naming mismatch. Critical (1 vote): uploader may delete the model without uploading replacements.
models/InHouse2027Square/mesh.sdf	Removes obsolete generated wrapper.
models/InHouse2027Circle/model.sdf	Adds circle geometry. Moderate (1 vote): unresolved 2026/2027 naming mismatch.
models/InHouse2027Circle/model.config	Registers the model. Moderate (1 vote): unresolved 2026/2027 naming mismatch. Critical (1 vote): uploader may delete the model without uploading replacements.
models/InHouse2027Circle/mesh.sdf	Removes obsolete generated wrapper.
.github/workflows/sdf_parser.yml	Filters deleted paths and aggregates parser failures.

Review details

Suppressed comments (6)

models/InHouse2027Circle/model.config:3

• The PR description and worlds/in_house_2026.sdf identify this as an In House 2026 model, but this new public model identifier is InHouse2027Circle (and the SDF comment also says 2027). Please confirm the intended year and align the model name before merging; changing the model:// identifier later requires coordinated updates.

  <name>InHouse2027Circle</name>

models/InHouse2027Circle/model.sdf:3

• The new package is labeled InHouse2027, while the PR description and worlds/in_house_2026.sdf:3 identify this as the 2026 challenge; the other three new packages repeat the 2027 label. Please confirm the intended year and align the directory names, <model>/<name> values, descriptions, and any external model references consistently, otherwise consumers using the 2026 names will not find these assets.

  In-house 2027 challenge ground marker: circle.

models/InHouse2027Square/model.config:3

• The PR description and worlds/in_house_2026.sdf identify this as an In House 2026 model, but this new public model identifier is InHouse2027Square (and the SDF comment also says 2027). Please confirm the intended year and align the model name before merging; changing the model:// identifier later requires coordinated updates.

  <name>InHouse2027Square</name>

models/InHouse2027Star/model.config:3

• The PR description and worlds/in_house_2026.sdf identify this as an In House 2026 model, but this new public model identifier is InHouse2027Star (and the SDF comment also says 2027). Please confirm the intended year and align the model name before merging; changing the model:// identifier later requires coordinated updates.

  <name>InHouse2027Star</name>

models/InHouse2027Star/model.sdf:27

• The link is translated to x=+0.050 m, but this collision is translated by -0.050 m relative to that link. The visual therefore renders at x=0.050 while the collision box is centered at x=0, leaving the physical marker displaced from its rendered marker. Align the collision and visual transforms (or document an intentional offset) before relying on this model for contact.

        <pose>-0.0500 0.0000 0.0051 0 0 0</pose>

models/InHouse2027Triangle/model.sdf:27

• The link is translated to x=+0.096 m, but this collision is translated by -0.096 m relative to that link. The visual therefore renders at x=0.096 while the collision box is centered at x=0, leaving the physical marker displaced from its rendered marker. Align the collision and visual transforms (or document an intentional offset) before relying on this model for contact.

        <pose>-0.0960 0.0000 0.0051 0 0 0</pose>

• Files reviewed: 14/19 changed files
• Comments generated: 5
• Review effort level: Lite

---

💡 Add a code-review agent skill or configure MCP servers for context-aware, tailored reviews. Learn more in the docs.

[yuzhiliu8]

The existing workflows are from px4's gazebo-models repo which I originally forked.

I think its possible to just not have gz-models as a submodule and instead just copy over the files directly. I think having this as a submodule doesn't really make sense now that I'm thinking about it again.

Thoughts?

[yuzhiliu8]

should this be in_house_2027.sdf?