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sdf -> usd: Added Visual and geometries#829

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ahcorde merged 21 commits intosdf12from
ahcorde/sdf_to_usd_visuals
Feb 24, 2022
Merged

sdf -> usd: Added Visual and geometries#829
ahcorde merged 21 commits intosdf12from
ahcorde/sdf_to_usd_visuals

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@ahcorde ahcorde commented Jan 26, 2022

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

🎉 New feature

Summary

This PR adds support for Visuals and Geometries

  • Support for visuals and geometries
  • Visual and Geometry tests
  • Some minor improvements in doc and tests

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 and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@ahcorde
sdf -> usd Parse links
9dfc9f2 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
sdf -> usd: Added Visual and geometries
ffaf2f4 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested review from adlarkin and koonpeng January 26, 2022 14:46
@ahcorde ahcorde self-assigned this Jan 26, 2022
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codecov-commenter commented Jan 26, 2022 •
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Codecov Report

Merging #829 (0d483a7) into sdf12 (5a2b5df) will not change coverage.
The diff coverage is n/a.

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@@           Coverage Diff           @@
##            sdf12     #829   +/-   ##
=======================================
  Coverage   90.88%   90.88%           
=======================================
  Files          78       78           
  Lines       12635    12635           
=======================================
  Hits        11483    11483           
  Misses       1152     1152

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@adlarkin adlarkin mentioned this pull request Jan 26, 2022
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ahcorde and others added 2 commits January 26, 2022 23:10
@ahcorde
Fixed test
0a5a9a7 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
review feedback
89daa0d 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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koonpeng commented Jan 27, 2022 •
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I tried to convert the ur10 model, but it cannot find the mesh files

[Err] [SystemPaths.cc:377] Unable to find file with URI [model://ur10/meshes/base.dae]
[Err] [SystemPaths.cc:467] Could not resolve file [model://ur10/meshes/base.dae]
[Err] [MeshManager.cc:119] Invalid mesh filename extension[]

The sdf works in ign gazebo, so I'm guessing the search directory is different somehow.

Managed to make it work by setting IGN_FILE_PATH instead of IGN_GAZEBO_RESOURCE_PATH. But I can't find any problems with the transformations

image

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adlarkin commented Jan 27, 2022

I tried to convert the ur10 model, but it cannot find the mesh files

Do you need to use this PR for material support? #831

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koonpeng commented Jan 28, 2022

Do you need to use this PR for material support? #831

I did not use the PR, but I don't think it is needed. I heard from @ahcorde that the transformations for ur10 downloaded from ignition fuel is wrong so I am trying to reproduce it.

Teo Koon Peng and others added 10 commits January 31, 2022 13:36
dont segfault when mesh failed to load
f48b35b 
Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>
fix error reporting
d932e90 
Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org>
@ahcorde
Merge branch 'sdf12' into ahcorde/sdf_to_usd_links
54b35e9
@ahcorde
Fixed scale and submesh name
f0331ca 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Merge remote-tracking branch 'origin/sdf12' into ahcorde/sdf_to_usd_l…
e85f60c 
…inks
@ahcorde
Use UsdError
a02a6e1 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
codecheck, use USD component's visibility macro, properly construct w…
f898d26 
…rapped sdf errors

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
Merge branch 'ahcorde/sdf_to_usd_links' into ahcorde/sdf_to_usd_visuals
258606c
@adlarkin
usd UsdErrors and USD component visibility
c43ba24 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
Merge branch 'sdf12' into ahcorde/sdf_to_usd_links
f816dd4
@adlarkin adlarkin mentioned this pull request Feb 15, 2022
Merged
7 tasks
@adlarkin
Merge branch 'ahcorde/sdf_to_usd_links' into ahcorde/sdf_to_usd_visuals
6f3490e
@adlarkin
review feedback
379defd 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
adlarkin
adlarkin reviewed Feb 17, 2022
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I made a few updates in 379defd. Overall, LGTM once the questions I have below are addressed.

Comment thread usd/src/sdf_parser/sdf2usd_TEST.cc
Comment thread usd/src/sdf_parser/Geometry.cc
Comment thread usd/src/sdf_parser/Geometry.cc
Base automatically changed from ahcorde/sdf_to_usd_links to sdf12 February 18, 2022 16:34
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ahcorde commented Feb 18, 2022

@scpeters or @azeey do you mind to review it ?

@scpeters scpeters added the usd label Feb 21, 2022
@ahcorde ahcorde enabled auto-merge (squash) February 24, 2022 08:36
@ahcorde ahcorde merged commit ad61117 into sdf12 Feb 24, 2022
@ahcorde ahcorde deleted the ahcorde/sdf_to_usd_visuals branch February 24, 2022 09:42
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osrf-triage commented Apr 13, 2022

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

@rbonghi rbonghi mentioned this pull request May 17, 2022
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@koonpeng koonpeng koonpeng approved these changes

@azeey azeey Awaiting requested review from azeey azeey is a code owner

@scpeters scpeters Awaiting requested review from scpeters scpeters is a code owner

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@adlarkin adlarkin adlarkin approved these changes

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