USD to SDF: Initial commit #827

ahcorde · 2022-01-20T20:28:34Z

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

🎉 New feature

Summary

This PR is the initial commit to support the conversion between USD to SDF.

The two classes included here allow to load stage and get the relevant data such us:

upaxis
meterperunit
materials

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.

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

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>

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

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>

codecov-commenter · 2022-01-20T20:54:45Z

Codecov Report

Merging #827 (0765a26) into sdf12 (41d370d) will decrease coverage by 0.45%.
The diff coverage is 67.10%.

❗ Current head 0765a26 differs from pull request most recent head bf579ed. Consider uploading reports for the commit bf579ed to get more accurate results

@@            Coverage Diff             @@
##            sdf12     #827      +/-   ##
==========================================
- Coverage   88.65%   88.19%   -0.46%     
==========================================
  Files          92       95       +3     
  Lines       14221    14525     +304     
==========================================
+ Hits        12607    12811     +204     
- Misses       1614     1714     +100

Impacted Files	Coverage Δ
usd/src/usd_parser/USDMaterial.cc	`62.91% <62.91%> (ø)`
usd/src/usd_parser/USDData.cc	`63.55% <63.55%> (ø)`
usd/src/usd_parser/USDStage.cc	`97.14% <97.14%> (ø)`

Continue to review full report at Codecov.

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adlarkin

I noticed that the USD -> SDF converter has a different file structure than the SDF -> USD converter. The USD -> SDF converter has headers in usd/include/sdf/usd_parser instead of usd/include/sdf/usd, and source files are in usd/src/usd_parser instead of usd/src. I think it makes sense to separate the USD -> SDF and SDF -> USD header/source files, but what if we used the following file structure for both converters so that they are more aligned:

Have a usd/include/sdf/usd directory, which is the "top level" header directory. SDF -> USD converter headers can be in the usd/include/sdf/usd/sdf_parser directory, and USD -> SDF converter headers can be in the usd/include/sdf/usd/usd_parser.
Keep a usd/src directory, which is the "top level" source directory. SDF -> USD converter sources can be in the usd/src/sdf_parser directory, and USD -> SDF converter sources can be in the usd/src/usd_parser directory.

Another option would be to have both converter header files in usd/include/sdf/usd, and both converter source files in usd/src, but this could make it difficult for users to know which files are associated with which parser.

~~If we decide to re-work the file structure to what I proposed above, then we would need to update the file structure in #817 before merging it.~~

File structure has been reworked in 2088f1e

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

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

adlarkin

I haven't reviewed all of the files yet, but I do have a few questions:

test/usd/empty_file.usda is not used. Can this file be removed?
Can tests be added for the API in UsdMaterial.hh?

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

ahcorde · 2022-03-08T16:00:33Z

I haven't reviewed all of the files yet, but I do have a few questions:

test/usd/empty_file.usda is not used. Can this file be removed?

Can tests be added for the API in UsdMaterial.hh?

ahcorde · 2022-03-08T19:55:50Z

@osrf-jenkins retest this please

ahcorde · 2022-03-08T20:32:01Z

@azeey do you mind to take another look to this pull request?

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

azeey

Just a few more minor comments. LGTM otherwise.

usd/include/sdf/usd/usd_parser/USDData.hh

usd/include/sdf/usd/usd_parser/USDStage.hh

usd/src/usd_parser/USDData_TEST.cc

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

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

osrf-triage · 2022-04-13T21:30:13Z

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

adlarkin and others added 21 commits January 7, 2022 12:36

make SDF to USD a separate component of sdformat

5e13b49

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

Added ignition-common4 as a dependency

fa4568b

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

create world prim and add physics information

18f3ac1

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

add unit test for world conversion

3bbd6ea

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

Added ci to compile with USD

16e0789

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

Added feedback

ae3ee43

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

improved doc

36d42fc

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

update CMake code

4545723

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

included namespaces

91629c0

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

Added basic test to sdf2usd cmd

6347953

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

changes in sdf2usd

bb6ee5a

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

Fixed usd tutorial

d1d7af6

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

Removed unneeded CMakeLists.txt

bab9e37

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

Moved CMakeLists.txt

cbdfa49

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

update example docs and other nits before merge

99fb170

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

Merge branch 'sdf12' into ahcorde/sdf_to_usd_cmake

819d5f5

clean CI

92eca63

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

Fixed CMake warning

0618353

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

Fixed cmake

bcc282b

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

reverted changes in CMakeLists.txt

0fd2568

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

USD to SDF: Initial commit

e006e92

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

ahcorde requested a review from adlarkin January 20, 2022 20:28

ahcorde self-assigned this Jan 20, 2022

ahcorde requested review from azeey and scpeters as code owners January 20, 2022 20:28

adlarkin reviewed Jan 21, 2022

View reviewed changes

Improved test

0195564

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

ahcorde added 3 commits February 28, 2022 10:28

Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

8e63638

Renamed Utils.hh file to USDMaterial.hh

36c33f0

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

Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

4c4f311

ahcorde requested a review from koonpeng March 2, 2022 09:05

Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

def2eb0

ahcorde mentioned this pull request Mar 4, 2022

USD -> SDF conversion support #866

Closed

ahcorde and others added 3 commits March 7, 2022 17:29

Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

87d7436

replace sdf::usd::RemoveSubStr with ignition::common::replaceAll

5bedc95

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

review feedback for USDMaterial

737150f

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

adlarkin reviewed Mar 8, 2022

View reviewed changes

ahcorde added 3 commits March 8, 2022 16:57

removed ununsed file

f77cd78

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

Added materials tests

0f34f61

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

Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

654ae66

adlarkin force-pushed the ahcorde/usd_to_sdf_initial_commit branch 2 times, most recently from ebfbc1f to 3ae7fd9 Compare March 8, 2022 22:51

make USDMaterial.hh a private header, remove RUN_ALL_TESTS call from …

6ada66f

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

adlarkin force-pushed the ahcorde/usd_to_sdf_initial_commit branch from 3ae7fd9 to 6ada66f Compare March 8, 2022 22:51

azeey approved these changes Mar 9, 2022

View reviewed changes

adlarkin and others added 4 commits March 8, 2022 20:14

review feedback

8df21b3

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

Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

04f952d

Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

e771a32

Removed trace

bf579ed

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

ahcorde merged commit 346f3ae into sdf12 Mar 9, 2022

ahcorde deleted the ahcorde/usd_to_sdf_initial_commit branch March 9, 2022 11:42

This pull request was closed.

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USD to SDF: Initial commit #827

USD to SDF: Initial commit #827

ahcorde commented Jan 20, 2022

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osrf-triage commented Apr 13, 2022

USD to SDF: Initial commit #827

USD to SDF: Initial commit #827

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ahcorde commented Jan 20, 2022

🎉 New feature

Summary

Test it

Checklist

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