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sdf -> usd converter: add joints (#837)
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: ahcorde <ahcorde@gmail.com>
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‎test/integration/joint_dom.cc

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@@ -176,7 +176,7 @@ TEST(DOMJoint, LoadJointParentWorld)
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EXPECT_EQ(1u, model->LinkCount());
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EXPECT_NE(nullptr, model->LinkByIndex(0));
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EXPECT_EQ(nullptr, model->LinkByIndex(1));
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EXPECT_EQ(Pose(0, 0, 0, 0, 0, 0), model->RawPose());
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EXPECT_EQ(Pose(1, 0, 0, 0, 0, 0), model->RawPose());
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EXPECT_EQ("", model->PoseRelativeTo());
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ASSERT_TRUE(model->LinkNameExists("link"));

‎test/sdf/ball_prismatic_joint.sdf

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@@ -0,0 +1,28 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="test">
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<link name="link1">
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</link>
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<link name="link2">
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</link>
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<link name="link3">
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</link>
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<link name="link4">
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</link>
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<joint name="ball_joint" type="ball">
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<pose>0 1 0 0 0 0</pose>
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<child>link1</child>
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<parent>link2</parent>
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</joint>
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<joint name="prismatic_joint" type="prismatic">
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<pose>0 0 0 0 0 1</pose>
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<child>link3</child>
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<parent>link4</parent>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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</model>
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</sdf>

‎test/sdf/double_pendulum.sdf

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@@ -197,6 +197,12 @@
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<child>upper_link</child>
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<axis>
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<xyz>1.0 0 0</xyz>
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<dynamics>
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<damping>35</damping>
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</dynamics>
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<limit>
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<stiffness>350</stiffness>
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</limit>
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</axis>
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</joint>
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<!-- pin joint for lower link, at origin of child link -->
@@ -205,6 +211,12 @@
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<child>lower_link</child>
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<axis>
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<xyz>1.0 0 0</xyz>
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<dynamics>
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<damping>35</damping>
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</dynamics>
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<limit>
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<stiffness>350</stiffness>
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</limit>
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</axis>
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</joint>
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</model>

‎test/sdf/joint_parent_world.sdf

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@@ -1,6 +1,7 @@
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="joint_parent_world">
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<pose>1 0 0 0 0 0</pose>
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<link name="link">
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<pose>0 0 1 0 0 0</pose>
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</link>

‎usd/include/sdf/usd/sdf_parser/Joint.hh

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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef SDF_USD_SDF_PARSER_JOINT_HH_
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#define SDF_USD_SDF_PARSER_JOINT_HH_
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#include <unordered_map>
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#include <string>
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// TODO(ahcorde) this is to remove deprecated "warnings" in usd, these warnings
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// are reported using #pragma message so normal diagnostic flags cannot remove
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// them. This workaround requires this block to be used whenever usd is
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// included.
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#pragma push_macro ("__DEPRECATED")
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#undef __DEPRECATED
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/stage.h>
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#pragma pop_macro ("__DEPRECATED")
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#include "sdf/Joint.hh"
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#include "sdf/Model.hh"
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#include "sdf/config.hh"
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#include "sdf/usd/Export.hh"
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#include "sdf/usd/UsdError.hh"
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namespace sdf
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{
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// Inline bracke to help doxygen filtering.
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inline namespace SDF_VERSION_NAMESPACE {
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//
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namespace usd
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{
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/// \brief Parse a SDF joint into a USD stage.
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/// \param[in] _joint The SDF joint to parse.
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/// \param[in] _stage The stage that should contain the USD representation
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/// of _joint. This must be a valid, initialized stage.
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/// \param[in] _path The USD path of the parsed joint in _stage, which must
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/// be a valid USD path.
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/// \param[in] _parentModel The model that is the parent of _joint
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/// \param[in] _linkToUsdPath a map of a link's SDF name to the link's USD
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/// path. This is used to determine which USD prims should be assigned as
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/// the USD joint's relative links.
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/// \param[in] _worldPath The USD path of the world prim. This is needed if
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/// _joint's parent is the world.
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/// \return UsdErrors, which is a vector of UsdError objects. Each UsdError
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/// includes an error code and message. An empty vector indicates no errors
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/// occurred when parsing _joint to its USD representation.
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UsdErrors IGNITION_SDFORMAT_USD_VISIBLE ParseSdfJoint(
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const sdf::Joint &_joint,
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pxr::UsdStageRefPtr &_stage, const std::string &_path,
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const sdf::Model &_parentModel,
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const std::unordered_map<std::string, pxr::SdfPath> &_linkToUsdPath,
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const pxr::SdfPath &_worldPath);
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}
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}
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}
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#endif

‎usd/src/CMakeLists.txt

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@@ -1,6 +1,7 @@
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set(sources
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UsdError.cc
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sdf_parser/Geometry.cc
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sdf_parser/Joint.cc
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sdf_parser/Light.cc
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sdf_parser/Link.cc
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sdf_parser/Model.cc
@@ -25,6 +26,7 @@ target_link_libraries(${usd_target}
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set(gtest_sources
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sdf_parser/sdf2usd_TEST.cc
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sdf_parser/Geometry_Sdf2Usd_TEST.cc
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sdf_parser/Joint_Sdf2Usd_TEST.cc
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sdf_parser/Light_Sdf2Usd_TEST.cc
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sdf_parser/Link_Sdf2Usd_TEST.cc
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# TODO(adlarkin) add a test for SDF -> USD models once model parsing

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