Russ Tedrake

In my mind, I would like to reduce the overhead of pulling assets from e.g.: https://bitbucket.org/osrf/gazebo_models Or shapenet, or ai habitat, etc. Having gone through the steps of putting a...

Yes, that sounds very reasonable to me. I think the "runtime" thinking that found it's way in the title was perhaps inspired by the machine learning workflows (e.g. https://pytorch.org/tutorials/beginner/blitz/cifar10_tutorial.html#loading-and-normalizing-cifar10 )....

possibly relevant: 

Strongly agree! I think it should be sufficient to add a `RollPitchYawJoint` (e.g. a *joint*; we can leave the Quaternion as the strange special case for "floating" body). This would...

notably, neither urdf nor sdf seem to offer it: http://wiki.ros.org/urdf/XML/joint http://sdformat.org/spec?ver=1.8&elem=joint in our old matlab we called it [`FloatingRpy`](https://github.com/RobotLocomotion/drake/blob/last_sha_with_original_matlab/drake/matlab/systems/plants/%40RigidBodyManipulator/RigidBodyManipulator.m#L543), but I'm ok with `FreeRpy`

I think backburner is ok. I will note that we `SpaceXYZFloatingMobilizer` in the code (great!) but it's completely untouchable with no joint nor any other public API nor parsing logic...

For anyone that feels like they need this, there is a less elegant solution already: you can just add all of the joints individually: https://github.com/RussTedrake/manipulation/blob/5e5981147079e69f03d1b42707b8db0386dc8824/manipulation/scenarios.py#L107

just a bump because I've run into this yet again as a pain point. I was hoping to pose some objects in the scene using the "authoring multibodyplant" tutorial workflow,...

*[`multibody/parsing/detail_dmd_parser.cc` line 243 at r10](https://reviewable.io/reviews/robotlocomotion/drake/17623#-NDxLU6b5tZA6S5LqmpA:-NDxLU6b5tZA6S5LqmpB:bqh3j8t) ([raw file](https://github.com/robotlocomotion/drake/blob/1f58de676912493b0ff88d83c51f03be4fba62d3/multibody/parsing/detail_dmd_parser.cc#L243)):* > ```cpp > " AddAllModelsFromFile() instead.", display_source)); > // TODO(rpoyner-tri): Does this imply we should have > // AddAllModelsFromString() as well? > ```...

Related to #9779