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convert SDF to USD#762

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adlarkin wants to merge 39 commits intosdf12from
adlarkin/sdf_to_usd
Closed

convert SDF to USD#762
adlarkin wants to merge 39 commits intosdf12from
adlarkin/sdf_to_usd

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@adlarkin adlarkin commented Nov 30, 2021 •
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🎉 New feature

Related to #736

Summary

This targets the sdf12 branch to add functionality for converting a SDF file to USD.

Test it

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

@github-actions github-actions bot added 🌱 garden Ignition Garden 🏯 fortress Ignition Fortress labels Nov 30, 2021
@adlarkin adlarkin mentioned this pull request Nov 30, 2021
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8 tasks
@adlarkin adlarkin force-pushed the adlarkin/sdf_to_usd branch 2 times, most recently from f33ccd8 to a908241 Compare December 1, 2021 20:58
@adlarkin adlarkin changed the title SDF to USD (sdf12) convert SDF to USD Dec 1, 2021
@adlarkin adlarkin force-pushed the adlarkin/sdf_to_usd branch from a908241 to efff131 Compare December 2, 2021 01:42
@adlarkin
basic file structure in place
c9bf572 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
convert box geometry
2b94af6 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
convert cylinder geometry
d09270c 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
convert sphere geometry
b28d677 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
convert capsule geometry
86ad4be 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
convert triangle mesh geometry
984c8e0 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin adlarkin force-pushed the adlarkin/sdf_to_usd branch from efff131 to 984c8e0 Compare December 2, 2021 01:43
ahcorde and others added 2 commits December 2, 2021 10:20
@ahcorde
Set upaxis to Z (#767)
dc7a47d 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
support ground planes
94e85ef 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
ahcorde
ahcorde reviewed Dec 3, 2021
View reviewed changes
src/usd/sdf_usd_parser/geometry.cc
return false;
}

if (!pxr::UsdPhysicsCollisionAPI::Apply(geomPrim))
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@ahcorde ahcorde Dec 3, 2021

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you should create two schemas, one for the visual and another one for the collision, even if this implies to duplicate the mesh.

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@adlarkin adlarkin Dec 3, 2021

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I'm not sure that I understand what you mean - are you saying that the geometry should have two schemas applied to it (i.e., collision and something else)? What is the visual schema you mentioned, can you share a link to documentation/API somewhere?

@adlarkin
add collisions and static/non-static models (rigid bodies)
c291638 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin adlarkin force-pushed the adlarkin/sdf_to_usd branch from 071cef6 to c291638 Compare December 3, 2021 22:31
@adlarkin
start supporting joints (main parts of revolute is done)
3983809 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
fix joint pose
0b56dbf 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
create physics scene and attach mass to links
21557b8 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
support USD sphericalJoint (ball joint in SDF)
0f9dfe2 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
support fixed joints and joints with the world as its parent
eebdc16 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
support prismatic joints
64b5915 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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adlarkin commented Dec 8, 2021 •
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As a note to myself and anyone else following the progress of this PR, here's what's supported as of commit 64b5915:

  • Models
    • static/non-static
    • links and joints (more info on these items below)
  • Links
    • Mass (part of the link's inertial)
    • Visual
      • Geometry for box, cylinder, sphere, capsule, triangle meshes, and ground planes
    • Collisions for geometries defined above
  • Joints
    • Basic support (parent, child, and axis information - which includes joint limits) for revolute, ball, prismatic, and fixed joint types

I still need to test the USD equivalents in simulation with Nvidia's isaac sim to make sure things behave as expected (so far, I have looked at the generated USD file via the usd converter script, and viewed contents of converted USD files with usdview). Here are a few SDF files that may be worth using for testing simulation behavior:

  • double pendulum
    • has links with basic geometry shapes and revolute joints
  • wind.sdf
    • has a joint with the parent being the world instead of a link (see roofJoint), and joints of type fixed and ball

Looking forward, I plan to work on converting lights and/or sensors next.

adlarkin and others added 3 commits December 8, 2021 18:06
@adlarkin
starting to work on parsing lights. Issues with intensity
e7aa6a9 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@ahcorde
USD converter removed spaces (#778)
b6e2ddc 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
attach rigid bodies to links, not models
688f71d 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@scpeters scpeters mentioned this pull request Dec 14, 2021
Merged
8 tasks
@adlarkin
add note about no current nested model support
3320206 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
parse lights attached to links
354078f 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
set UsdPhysicsScene gravity info
268687f 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
handle +- unit vectors for joint axis
8ea34ae 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
handle relative_to pose
a4227f0 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
support imu
5fe9251 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
This was referenced Dec 18, 2021
Merged
Merged
adlarkin and others added 12 commits December 20, 2021 10:07
@adlarkin
apply UsdPhysicsDriveAPI to revolute joints (#791)
9992d88 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
apply COM and inertia to links (#792)
dd50153 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
avoid extra UsdPhysicsDriveAPI lookup for revolute joints
acfb0ef 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@ahcorde
Added more info to the main stage (#793)
722ea46 
* Added more info to the main stage

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Fixed complain about type

Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
decrease light intensities (#801)
043da19 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
add ellipsoid support (#812)
af33c66 
Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>
@ahcorde
Added articulationRootAPI to SDF-USD converter (#797)
b70ce48 
* Added articulationRootAPI to SDF-USD converter

Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added tutorial to move an articulated arms (#798)
9b36de1 
* Added tutorial to move an articulated arms

Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Camera fixes to SDF to USD converter (#787)
5cfcd74 
* Camera fixes to SDF to USD converter

Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added materials to SDF to USD converter (#770)
4e0b9c9 
* Added materials to SDF to USD converter

Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Fixed Y jonits
3338774 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
USD Getting Started
745a054 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin adlarkin mentioned this pull request Jan 7, 2022
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8 tasks
@ahcorde
Fixed build
a9a461a 
Signed-off-by: ahcorde <ahcorde@gmail.com>
koonpeng
koonpeng reviewed Jan 26, 2022
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I'm having problem building this with other ignition libraries, when building libraries that uses sdformat, I am getting linker errors

...
/usr/bin/ld: cannot find -lusdImagingGL
/usr/bin/ld: cannot find -lusdRiImaging
/usr/bin/ld: cannot find -lusdSkelImaging
/usr/bin/ld: cannot find -lusdVolImaging
/usr/bin/ld: cannot find -lusdAppUtils
collect2: error: ld returned 1 exit status

I think it's a combination of usd's cmake not being correct about the needed compiler flags, and that some libraries are not linking to sdformat via the target, but by XXX_Libraries variables, and that colcon is not correctly adding the workspace install directory to the list of default search directories.

Since #817 has been merged, updating this PR should fix the issue.

cmake/sdf_config.cmake.in
list(APPEND @PKG_NAME@_INCLUDE_DIRS ${IGNITION-MATH_INCLUDE_DIRS})
list(APPEND @PKG_NAME@_LIBRARY_DIRS ${IGNITION-MATH_LIBRARY_DIRS})

find_package(ignition-commonh@IGN_COMMON_VER@)
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@koonpeng koonpeng Jan 26, 2022 •
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Suggested change
find_package(ignition-commonh@IGN_COMMON_VER@)
find_package(ignition-common@IGN_COMMON_VER@)

typo?

upstream has removed this file, not sure if we can remove as well.

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adlarkin commented Jan 26, 2022

I'm having problem building this with other ignition libraries

@koonpeng, sorry, we actually are not iterating on this PR anymore - now that we have merged #817, the approach being taken is to split this PR up into smaller pieces that can be built on top of #817. For example:

We are keeping this PR open as a draft for reference, but once we have broken this up into smaller pieces that make use of the component infrastructure, we will close this PR.

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koonpeng commented Jan 27, 2022

thanks, I will look at #829 for my testing.

@scpeters scpeters added the usd label Feb 21, 2022
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ahcorde commented Mar 4, 2022

This PR was superseded by:

Thank you @scpeters @adlarkin @azeey @koonpeng for the reviews!

@ahcorde ahcorde closed this Mar 4, 2022
@ahcorde ahcorde mentioned this pull request Mar 4, 2022
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@adlarkin adlarkin deleted the adlarkin/sdf_to_usd branch March 24, 2022 15:05
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