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USD -> SDF: Parse Physics and generated SDF file#863

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ahcorde merged 22 commits intosdf12from
ahcorde/usd_to_sdf_physics
Mar 15, 2022
Merged

USD -> SDF: Parse Physics and generated SDF file#863
ahcorde merged 22 commits intosdf12from
ahcorde/usd_to_sdf_physics

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@ahcorde ahcorde commented Feb 25, 2022 •
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Signed-off-by: ahcorde ahcorde@gmail.com

🎉 New feature

Summary

Parse Physics and generated SDF file

Test it

If you have the isaac-sim-assets-2021.1.1 assets you can try for example:

usd2sdf isaac-sim-assets-2021.1.1//Robots/UR10/ur10.usd ur10.sdf

The expected output must look like:

<sdf version="1.7">
    <world name="ur10_world">
          <gravity>0 0 -9.8</gravity>
    </world>
</sdf>

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 ahcorde added the usd label Feb 25, 2022
@ahcorde ahcorde requested a review from adlarkin February 25, 2022 20:46
@ahcorde ahcorde self-assigned this Feb 25, 2022
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codecov-commenter commented Feb 25, 2022 •
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Codecov Report

Merging #863 (5d05f55) into sdf12 (b7447df) will decrease coverage by 0.02%.
The diff coverage is 69.04%.

❗ Current head 5d05f55 differs from pull request most recent head 966dc01. Consider uploading reports for the commit 966dc01 to get more accurate results

Impacted file tree graph

@@            Coverage Diff             @@
##            sdf12     #863      +/-   ##
==========================================
- Coverage   88.17%   88.15%   -0.03%     
==========================================
  Files          96      100       +4     
  Lines       14547    14629      +82     
==========================================
+ Hits        12827    12896      +69     
- Misses       1720     1733      +13
Impacted Files Coverage Δ
usd/src/cmd/usd2sdf.cc 85.18% <42.85%> (+12.45%) ⬆️
usd/src/usd_parser/USD2SDF.cc 50.00% <50.00%> (ø)
usd/src/usd_parser/USDWorld.cc 73.07% <73.07%> (ø)
usd/src/usd_parser/Parser.cc 73.33% <73.33%> (ø)
usd/src/usd_parser/USDPhysics.cc 85.00% <85.00%> (ø)
usd/src/usd_parser/USDMaterial.cc 64.90% <0.00%> (+1.98%) ⬆️
usd/src/usd_parser/USDData.cc 66.94% <0.00%> (+3.38%) ⬆️

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@scpeters
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scpeters commented Feb 25, 2022 

usd2sdf isaac-sim-assets-2021.1.1//Robots/UR10/ur10.usd ur10.sdf

The expected output must look like:

<sdf version="1.7">
    <world name="ur10_world">
        <physics>
            <gravity>0 0 -9.8</gravity>
        </physics>
    </world>
</sdf>

this example doesn't look right to me. <gravity> should be directly under the <world>; it is not under <physics> in version 1.6+. In 1.5 and earlier, gravity was in the physics block, but not in newer versions.

@ahcorde
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ahcorde commented Feb 25, 2022 

usd2sdf isaac-sim-assets-2021.1.1//Robots/UR10/ur10.usd ur10.sdf

The expected output must look like:

<sdf version="1.7">
    <world name="ur10_world">
        <physics>
            <gravity>0 0 -9.8</gravity>
        </physics>
    </world>
</sdf>

this example doesn't look right to me. <gravity> should be directly under the <world>; it is not under <physics> in version 1.6+. In 1.5 and earlier, gravity was in the physics block, but not in newer versions.

Thank you @scpeters , I updated the PR

@ahcorde ahcorde mentioned this pull request Mar 4, 2022
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@ahcorde
USD -> SDF: Added cmd line tool
48c499b 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde force-pushed the ahcorde/usd_to_sdf_cmd branch from d916dc5 to 48c499b Compare March 9, 2022 12:22
@ahcorde
USD -> SDF: Parse Physics and generated SDF file
3a9b349 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde force-pushed the ahcorde/usd_to_sdf_physics branch from 8955a74 to 3a9b349 Compare March 9, 2022 12:49
ahcorde and others added 4 commits March 9, 2022 19:50
@ahcorde
Fixed var name
a869404 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added tests
0d2f1ae 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
review feedback
d939ca4 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
more review feedback
bffdc8f 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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adlarkin reviewed Mar 10, 2022
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I still have a few more files to review, but here are a few questions that I have so far.

Comment thread usd/src/usd_parser/USDWorld.cc
Comment thread usd/src/usd_parser/USDWorld.cc Outdated
Comment thread usd/src/usd_parser/USDWorld.cc Outdated
Comment thread usd/src/usd_parser/usd_model/WorldInterface.hh Outdated
Base automatically changed from ahcorde/usd_to_sdf_cmd to sdf12 March 10, 2022 08:59
ahcorde added 2 commits March 10, 2022 10:09
@ahcorde
Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_p…
213fb64 
…hysics
@ahcorde
feedback
460d693 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested a review from adlarkin March 10, 2022 09:14
ahcorde and others added 2 commits March 10, 2022 13:39
@ahcorde
Fix when physics schema is not available
a01e4f9 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@adlarkin
review feedback
318eff9 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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I made final iterations in 318eff9. Overall, LGTM, but I don't know much about tinyxml2, so @azeey or @scpeters, would you mind taking one final look before we merge this?

@adlarkin
fix test
602a176 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
azeey
azeey requested changes Mar 11, 2022
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Comment thread usd/src/cmd/usd2sdf.cc
Comment thread usd/src/usd_parser/USD2SDF.hh Outdated
Comment thread usd/src/usd_parser/USD2SDF.hh Outdated
Comment thread usd/src/usd_parser/Parser.cc Outdated
Comment thread usd/src/usd_parser/USD2SDF.cc Outdated
Comment thread usd/src/usd_parser/USD2SDF.cc Outdated
Comment thread usd/src/usd_parser/USDPhysics.cc Outdated
Comment thread usd/src/usd_parser/USDPhysics.hh Outdated
Comment thread usd/src/usd_parser/usd_model/WorldInterface.hh Outdated
@ahcorde
Added some feedback
2ba1b26 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@koonpeng koonpeng self-requested a review March 14, 2022 09:03
@ahcorde
Added feedback
d8212ae 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added feedback
50eabdb 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested a review from azeey March 14, 2022 11:52
ahcorde added 3 commits March 14, 2022 14:31
@ahcorde
Removed WorldInterface class
faafcdd 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
fixed test
5f754dc 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
fixed error vector
9617797 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested a review from adlarkin March 14, 2022 16:34
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review feedback
966dc01 
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Thank you for the feedback and iterations, @ahcorde and @azeey! The new changes look good, and I think it's much easier to follow with sdf::Root. I just have one small comment, and will let @azeey take one last look before we merge.

Comment thread usd/src/usd_parser/USDWorld.cc Outdated
ahcorde added 2 commits March 15, 2022 12:59
@ahcorde
fix
8f0a458 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Merge branch 'ahcorde/usd_to_sdf_physics' of https://github.com/ignit…
60f660b 
…ionrobotics/sdformat into ahcorde/usd_to_sdf_physics
@ahcorde ahcorde requested a review from adlarkin March 15, 2022 12:00
azeey
azeey reviewed Mar 15, 2022
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Comment thread usd/src/usd_parser/USDPhysics.hh Outdated
Comment thread usd/src/usd_parser/USDPhysics.hh
Comment thread usd/src/usd_parser/USDWorld.cc Outdated
Comment thread usd/src/usd_parser/USD2SDF.cc Outdated
@ahcorde
Added feedback
eae0182 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested a review from azeey March 15, 2022 15:42
@ahcorde ahcorde merged commit 3c140a1 into sdf12 Mar 15, 2022
@ahcorde ahcorde deleted the ahcorde/usd_to_sdf_physics branch March 15, 2022 18:04
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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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@azeey azeey azeey approved these changes

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@koonpeng koonpeng Awaiting requested review from koonpeng

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