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sdf -> usd converter: add joints#837

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adlarkin merged 21 commits intosdf12from
adlarkin/sdf_to_usd_joints
Feb 25, 2022
Merged

sdf -> usd converter: add joints#837
adlarkin merged 21 commits intosdf12from
adlarkin/sdf_to_usd_joints

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@adlarkin adlarkin commented Jan 28, 2022 •
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🎉 New feature

Summary

Adds support for converting joints to their USD representation when parsing a SDF model to USD. Currently, the following joint types are supported:

  • revolute
  • ball
  • fixed
  • prismatic

Test it

You can run the unit test that has been added (sdformat/usd/src/sdf_parser/Joint_Sdf2Usd_TEST.cc)

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 and others added 3 commits January 25, 2022 18:21
@ahcorde
sdf -> usd Parse links
9dfc9f2 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
review feedback
89daa0d 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
working on adding joints to sdf -> usd converter
be73c54 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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codecov-commenter commented Jan 28, 2022 •
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Codecov Report

Merging #837 (c03c363) into sdf12 (ec11f63) will not change coverage.
The diff coverage is n/a.

Impacted file tree graph

@@           Coverage Diff           @@
##            sdf12     #837   +/-   ##
=======================================
  Coverage   90.88%   90.88%           
=======================================
  Files          78       78           
  Lines       12636    12636           
=======================================
  Hits        11484    11484           
  Misses       1152     1152

Continue to review full report at Codecov.

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adlarkin and others added 5 commits January 31, 2022 22:29
@adlarkin
add test for revolute joints
88f8ead 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@ahcorde
Merge branch 'sdf12' into ahcorde/sdf_to_usd_links
54b35e9
@adlarkin
test fixed joints and joints parent as world
fa28005 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
use IGN_RTOD instead of ignition::math::Angle class
05d43ad 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
add tests for ball and prismatic joints
68a9458 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin adlarkin force-pushed the adlarkin/sdf_to_usd_joints branch from 94c6b51 to 68a9458 Compare February 2, 2022 00:39
@adlarkin
cleanup
bc74c28 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin adlarkin requested a review from ahcorde February 2, 2022 03:57
@adlarkin adlarkin marked this pull request as ready for review February 2, 2022 03:58
@adlarkin adlarkin mentioned this pull request Feb 8, 2022
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@adlarkin adlarkin force-pushed the adlarkin/sdf_to_usd_joints branch from 992ab59 to f1b82d6 Compare February 16, 2022 02:40
@adlarkin
fix variable case style (use camelcase)
4c9b868 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
Base automatically changed from ahcorde/sdf_to_usd_links to sdf12 February 18, 2022 16:34
@scpeters scpeters added the usd label Feb 21, 2022
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scpeters commented Feb 21, 2022

can you resolve the conflicts?

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ahcorde commented Feb 21, 2022

@osrf-jenkins retest this please

scpeters
scpeters reviewed Feb 24, 2022
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Comment thread usd/src/sdf_parser/Joint.cc Outdated
Comment thread usd/src/sdf_parser/Joint.cc
Comment thread usd/src/sdf_parser/Joint.cc
Comment thread usd/src/sdf_parser/Joint.cc
Comment thread usd/src/sdf_parser/Joint.cc Outdated
Comment thread usd/src/sdf_parser/Joint.cc Outdated
Comment thread usd/src/sdf_parser/Joint.cc Outdated
Comment thread usd/src/sdf_parser/Joint.cc
Comment thread usd/src/sdf_parser/Joint.cc Outdated
@ahcorde
added feedback
f40526a 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Fixed test
32cb32f 
Signed-off-by: ahcorde <ahcorde@gmail.com>
ahcorde
ahcorde reviewed Feb 24, 2022
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I pushed some code to address the feedback

scpeters
scpeters reviewed Feb 24, 2022
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only two minor comments remaining

I still don't get the Y-axis revolute joint issue, but there are todo comments there, so we can come back to it at some point

Comment thread usd/src/sdf_parser/Joint.cc Outdated
Comment thread usd/src/sdf_parser/Joint.cc Outdated
@adlarkin
Merge branch 'sdf12' into adlarkin/sdf_to_usd_joints
d1230a3
@adlarkin
review feedback
c03c363 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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adlarkin commented Feb 24, 2022

I still don't get the Y-axis revolute joint issue, but there are todo comments there, so we can come back to it at some point

Sounds good, @ahcorde may have some more info about this - I left a comment with some more background/context: #837 (comment)

All other feedback should be addressed now, so this is ready for final review.

@adlarkin adlarkin requested review from ahcorde and scpeters February 24, 2022 22:33
@adlarkin adlarkin merged commit 5e3605f into sdf12 Feb 25, 2022
@adlarkin adlarkin deleted the adlarkin/sdf_to_usd_joints branch February 25, 2022 04:59
@ahcorde ahcorde mentioned this pull request Mar 4, 2022
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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

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Reviewers

@scpeters scpeters scpeters approved these changes

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

@ahcorde ahcorde Awaiting requested review from ahcorde

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