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USD -> SDF: Added model tag #876

Merged
merged 84 commits into from
Apr 5, 2022
Merged

USD -> SDF: Added model tag #876

merged 84 commits into from
Apr 5, 2022

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ahcorde
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@ahcorde ahcorde commented Mar 10, 2022

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

🎉 New feature

Summary

USD -> SDF: Added model tag

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 14 commits March 9, 2022 13:22
@ahcorde
USD -> SDF: Added cmd line tool
48c499b 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
USD -> SDF: Parse Physics and generated SDF file
3a9b349 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
usd -> sdf: Read transforms
576f9bd 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
USD -> SDF: Added lights attached to the world
d10b6ec 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Fixed var name
a869404 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added tests
0d2f1ae 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Fixed build and added USDLight test
4b09785 
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>
@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
Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_physics' into…
866ba4f 
… ahcorde/usd_to_sdf_transforms
@ahcorde
Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_transforms' i…
3dd8022 
…nto ahcorde/usd_to_sdf_lights
@ahcorde
USD -> SDF: Added model tag
840088b 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde added the usd label Mar 10, 2022
@ahcorde ahcorde self-assigned this Mar 10, 2022
@ahcorde
Fix when physics schema is not available
a01e4f9 
Signed-off-by: ahcorde <ahcorde@gmail.com>
adlarkin and others added 3 commits March 10, 2022 19:29
@adlarkin
review feedback
318eff9 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
fix test
602a176 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@ahcorde
Added some feedback
2ba1b26 
Signed-off-by: ahcorde <ahcorde@gmail.com>
koonpeng
koonpeng previously requested changes Mar 14, 2022
View reviewed changes
usd/src/usd_parser/USDWorld.cc Outdated
@@ -80,6 +87,25 @@ namespace usd
std::vector<std::string> primPathTokens =
ignition::common::split(primPath, "/");

if (primPathTokens.size() == 1 && !prim.IsA<pxr::UsdGeomCamera>())
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This is making an assumption on the scene graph of the usd, it wouldn't hold if the usd does not come from isaac sim. We should probably note somewhere that the converter only works for isaac sim usds.

@ahcorde
Added feedback
d8212ae 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added feedback
50eabdb 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_physics' into…
fea108f 
… ahcorde/usd_to_sdf_transforms
@ahcorde
Added feedback
539d724 
Signed-off-by: ahcorde <ahcorde@gmail.com>
ahcorde and others added 12 commits March 28, 2022 10:34
@ahcorde
Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_t…
34dad46 
…ransforms
@ahcorde
Convert FindStage to const
479330f 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added rotateZYX test
0198bfa 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_transforms' i…
0ab33ec 
…nto ahcorde/usd_to_sdf_lights
@ahcorde
fixed light test
7299701 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_lights' into …
c615e3d 
…ahcorde/usd_to_sdf_models
@adlarkin
review feedback
d995cfd 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@ahcorde
Added feedback
261e92a 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Added comment about intensity
b06bb8c 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_l…
d762c88 
…ights
@ahcorde
Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_lights' into …
3325f5b 
…ahcorde/usd_to_sdf_models
@adlarkin
move error type to end of enum to avoid ABI break
af2ce4c 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@codecov-commenter
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codecov-commenter commented Mar 31, 2022 •
edited
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Codecov Report

Merging #876 (96b561c) into sdf12 (2669ff5) will increase coverage by 0.01%.
The diff coverage is 100.00%.

❗ Current head 96b561c differs from pull request most recent head b01801f. Consider uploading reports for the commit b01801f to get more accurate results

@@            Coverage Diff             @@
##            sdf12     #876      +/-   ##
==========================================
+ Coverage   87.66%   87.68%   +0.01%     
==========================================
  Files         104      104              
  Lines       15033    15049      +16     
==========================================
+ Hits        13179    13196      +17     
+ Misses       1854     1853       -1
Impacted Files Coverage Δ
usd/src/usd_parser/USDData.cc 62.28% <ø> (-1.28%) ⬇️
usd/src/usd_parser/USDWorld.cc 86.36% <100.00%> (+4.01%) ⬆️
usd/src/usd_parser/USDTransforms.cc 65.54% <0.00%> (+0.67%) ⬆️

Continue to review full report at Codecov.

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@adlarkin
parse models that are children of the root stage prim
a907dda 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
Base automatically changed from ahcorde/usd_to_sdf_lights to sdf12 March 31, 2022 20:54
@adlarkin
check for static models, add test
553b93b 
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
@adlarkin
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@ahcorde I made some changes and added tests, would you mind taking a look? Here are the changes I made: https://github.com/ignitionrobotics/sdformat/pull/876/files/af2ce4c6caf2cf1a7cf7be2214de94d4a1d03800..553b93b03bbd482dd0602a2c066547aaee125a0f

adlarkin
adlarkin reviewed Apr 1, 2022
View reviewed changes
usd/src/usd_parser/USDLight_TEST.cc Show resolved Hide resolved
usd/src/usd_parser/USDLight_TEST.cc Show resolved Hide resolved
usd/src/usd_parser/USDWorld.cc Outdated Show resolved Hide resolved
usd/src/usd_parser/USDWorld.cc Outdated Show resolved Hide resolved
@ahcorde
Added feedback
2e0f45c 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde
remove trace
a63b384 
Signed-off-by: ahcorde <ahcorde@gmail.com>
@ahcorde ahcorde requested a review from adlarkin April 5, 2022 08:19
@ahcorde ahcorde merged commit 56b0d9c into sdf12 Apr 5, 2022
@ahcorde ahcorde deleted the ahcorde/usd_to_sdf_models branch April 5, 2022 21:23
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@adlarkin adlarkin adlarkin approved these changes

@koonpeng koonpeng koonpeng left review comments

@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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