usd -> sdf: Read transforms by ahcorde · Pull Request #871 · gazebosim/sdformat

ahcorde · 2022-03-08T21:31:23Z

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

🎉 New feature

Summary

These functions allow to read the transform of a prim. It allows to read the tranforms from a prim to its parents and it should stop when the name given to the functions is equal to the name of the parent.

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)
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codecov-commenter · 2022-03-08T22:23:42Z

Codecov Report

Merging #871 (cf28342) into sdf12 (6ecfcc2) will decrease coverage by 0.23%.
The diff coverage is 64.90%.

@@            Coverage Diff             @@
##            sdf12     #871      +/-   ##
==========================================
- Coverage   87.95%   87.72%   -0.24%     
==========================================
  Files         101      102       +1     
  Lines       14756    14906     +150     
==========================================
+ Hits        12979    13076      +97     
- Misses       1777     1830      +53

Impacted Files	Coverage Δ
usd/src/usd_parser/USDTransforms.cc	`64.66% <64.66%> (ø)`
usd/src/usd_parser/USDData.cc	`63.55% <100.00%> (ø)`

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

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

…hysics

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

… ahcorde/usd_to_sdf_transforms

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

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

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

… ahcorde/usd_to_sdf_transforms

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

ahcorde · 2022-03-24T18:12:29Z

@azeey and @adlarkin I made the requested changes even the rotation one, maybe I will need to open fix in the future or the sdf2usd converter is wrong. Not really sure about this

The only change that is still pending is the one related with the const USDData _usdData. I need to change the signature of FindStage, but this will break ABI, this module was not released yet, maybe I can still change it

ahcorde · 2022-03-25T08:38:30Z

@osrf-jenkins retest this please

adlarkin · 2022-03-27T04:22:59Z

@koonpeng would you mind taking a look at #871 (comment) and giving some feedback?

…ransforms

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

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

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

adlarkin · 2022-03-30T22:14:01Z

I have reviewed the changes in this PR and have a few change proposals, which I listed in a new PR: #924

cc @ahcorde @azeey

ahcorde · 2022-03-31T08:30:47Z

I have reviewed the changes in this PR and have a few change proposals, which I listed in a new PR: #924

cc @ahcorde @azeey

As I mentioned in this comment #924 (review) The suggestions to this PR #924 are breaking the rotations

The gripper has a wrong rotation

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: ahcorde <ahcorde@gmail.com>

azeey · 2022-03-31T13:27:39Z

+      ignition::math::Quaterniond qX, qY, qZ;
+      ignition::math::Angle angleX(IGN_DTOR(rotationEuler[0]));
+      ignition::math::Angle angleY(IGN_DTOR(rotationEuler[1]));
+      ignition::math::Angle angleZ(IGN_DTOR(rotationEuler[2]));
+      qX = ignition::math::Quaterniond(angleX.Normalized().Radian(), 0, 0);
+      qY = ignition::math::Quaterniond(0, angleY.Normalized().Radian(), 0);
+      qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian());
+
+      if (op == kXFormOpRotateZYX)
+      {
+        std::swap(angleX, angleZ);
+      }
+      t.SetRotation((qX * qY) * qZ);


Since ign-math already does Euler angles, my recommendation would be to use that instead of creating 3 quaternions here. I think this can be simplified as:

// SDFormat/ign-math uses extrinsic XYZ rotations, so it's the same as `rotateXYZ` ignition::math::Quaterniond rot(IGN_DTOR(rotationEuler[0]), IGN_DTOR(rotationEuler[1]), IGN_DTOR(rotationEuler[2])) if (op == kxFormOpRotateZYX){ rot.Invert(); } t.SetRotation(rot);

See https://graphics.pixar.com/usd/release/api/class_usd_geom_xformable.html#details for USD rotation order

See http://sdformat.org/tutorials?tut=specify_pose&cat=specification& for SDFormat rotation order.

azeey · 2022-03-31T13:33:37Z

+      qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian());
+
+      if (op == kXFormOpRotateZYX)
+      {


The angles are swapped here, but the angles are not used after this line, so it doesn't affect the end result. See my recommendation above.

azeey · 2022-03-31T13:40:43Z

+    EXPECT_TRUE(ignition::math::equal(
+      _rotation.value().Roll(),
+       usdTransforms.Rotation().value().Roll(), 0.1));
+   EXPECT_TRUE(ignition::math::equal(
+     _rotation.value().Pitch(),
+      usdTransforms.Rotation().value().Pitch(), 0.1));
+    EXPECT_TRUE(ignition::math::equal(
+      _rotation.value().Yaw(),
+       usdTransforms.Rotation().value().Yaw(), 0.1));


This is fine. I would probably lower the tolerance a bit. If you want, you could just do
EXPECT_TRUE(_rotation->Equal(*usdTransforms.Rotation(), tol));

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

Approved

ahcorde requested review from adlarkin and koonpeng March 8, 2022 21:31

ahcorde self-assigned this Mar 8, 2022

ahcorde requested review from azeey and scpeters as code owners March 8, 2022 21:31

ahcorde added 2 commits March 9, 2022 13:22

USD -> SDF: Added cmd line tool

48c499b

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

USD -> SDF: Parse Physics and generated SDF file

3a9b349

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

ahcorde force-pushed the ahcorde/usd_to_sdf_physics branch from 8955a74 to 3a9b349 Compare March 9, 2022 12:49

usd -> sdf: Read transforms

576f9bd

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

ahcorde force-pushed the ahcorde/usd_to_sdf_transforms branch from d09ce09 to 576f9bd Compare March 9, 2022 13:05

ahcorde and others added 7 commits March 9, 2022 19:50

Fixed var name

a869404

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

Added tests

0d2f1ae

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

review feedback

d939ca4

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

more review feedback

bffdc8f

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_p…

213fb64

…hysics

feedback

460d693

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

Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_physics' into…

866ba4f

… ahcorde/usd_to_sdf_transforms

ahcorde force-pushed the ahcorde/usd_to_sdf_transforms branch from c0eaf1d to 866ba4f Compare March 10, 2022 09:37

ahcorde added the usd label Mar 10, 2022

ahcorde and others added 4 commits March 10, 2022 13:39

Fix when physics schema is not available

a01e4f9

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

review feedback

318eff9

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

fix test

602a176

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

Added some feedback

2ba1b26

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

koonpeng previously requested changes Mar 14, 2022

View reviewed changes

Comment thread usd/src/usd_parser/USDTransforms.cc Outdated

Comment thread usd/src/usd_parser/USDTransforms.cc Outdated

Comment thread usd/src/usd_parser/USDTransforms.cc Outdated

Comment thread usd/src/usd_parser/USDTransforms_TEST.cc Outdated

ahcorde added 5 commits March 14, 2022 12:47

Added feedback

d8212ae

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

Added feedback

50eabdb

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

Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_physics' into…

fea108f

… ahcorde/usd_to_sdf_transforms

Added feedback

539d724

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

Removed WorldInterface class

faafcdd

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

ahcorde requested review from adlarkin and azeey March 24, 2022 18:20

adlarkin and others added 10 commits March 27, 2022 00:23

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

4cd064a

Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_t…

34dad46

…ransforms

Convert FindStage to const

479330f

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

Added rotateZYX test

0198bfa

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

remove unneeded cmake code

b270192

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

make sure only XYZ or ZYX rotation is enabled, but not both

e2acde3

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

5e58b72

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

0d4d298

be more explicit about testing XYZ vs ZYX rotation

efbbc63

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

test nested position transforms

da475d4

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

adlarkin force-pushed the ahcorde/usd_to_sdf_transforms branch from 37c78f1 to da475d4 Compare March 30, 2022 20:10

make linters happy

68b26c9

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

adlarkin mentioned this pull request Mar 30, 2022

USD -> SDF transform fixes #924

Merged

7 tasks

ahcorde and others added 2 commits March 31, 2022 10:30

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

5f6f333

USD -> SDF transform fixes (#924)

cf28342

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: ahcorde <ahcorde@gmail.com>

azeey reviewed Mar 31, 2022

View reviewed changes

added TODO

3bb4427

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

ahcorde mentioned this pull request Oct 26, 2022

usd2sdf: Potential issue in the USDTransforms class gazebosim/gz-usd#13

Open

azeey approved these changes Mar 31, 2022

View reviewed changes

ahcorde enabled auto-merge (squash) March 31, 2022 17:08

ahcorde merged commit 7861815 into sdf12 Mar 31, 2022

ahcorde deleted the ahcorde/usd_to_sdf_transforms branch March 31, 2022 18:16

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usd -> sdf: Read transforms#871

usd -> sdf: Read transforms#871
ahcorde merged 55 commits intosdf12from
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🎉 New feature

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