Make SDF -> USD code a separate component of SDF #816
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@@ -109,8 +109,17 @@ if (BUILD_SDF) | |
| ign_find_package(ignition-utils1 VERSION REQUIRED) | ||
| set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR}) | ||
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| ######################################## | ||
| # Find ignition common | ||
| ign_find_package(ignition-common4 COMPONENTS graphics REQUIRED_BY usd) | ||
| set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR}) | ||
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| ######################################## | ||
| # Find PXR | ||
| ign_find_package(pxr REQUIRED_BY usd PKGCONFIG pxr) | ||
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There was a problem hiding this comment. I'm not sure if the Can someone confirm if adding |
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| ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS | ||
| COMPONENTS usd) | ||
| ign_create_packages() | ||
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| add_subdirectory(sdf) | ||
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| cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | ||
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| project(usdSdfConversions) | ||
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| set(SDF_VER 12) | ||
| find_package(sdformat${SDF_VER} COMPONENTS usd REQUIRED) | ||
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| add_executable(usdConverter usdConverter.cc) | ||
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| target_link_libraries(usdConverter | ||
| PUBLIC | ||
| sdformat${SDF_VER}::usd | ||
| ) |
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| # Converting between SDF and USD | ||
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| This example shows how a world in a SDF file can be converted to [USD](https://graphics.pixar.com/usd/release/index.html). | ||
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| ## Requirements | ||
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| You will need all of the dependencies for sdformat, along with the following additional dependencies: | ||
| * USD: [installation instructions](https://github.com/PixarAnimationStudios/USD/blob/release/README.md#getting-and-building-the-code) | ||
| * [ignition-common4](https://github.com/ignitionrobotics/ign-common) | ||
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| ## Setup | ||
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| Build sdformat, and then run the following commands to build the example (run these commands from this example directory): | ||
| ```bash | ||
| mkdir build | ||
| cd build | ||
| cmake .. | ||
| make | ||
| ``` | ||
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| You should now have an executable named `usdConverter`, which can be used to convert a SDF world file to a USD file. | ||
| The following command converts the example `shapes.sdf` file to its USD representation, stored in a file called `shapes.usda` (run this command from the `build` directory): | ||
| ```bash | ||
| ./usdConverter ../shapes.sdf shapes.usda | ||
|
There was a problem hiding this comment. right now, this is not working - whenever I try to run the executable generated by the example, I get the following error: This was not happening with this executable before turning all of this code into a separate component, so perhaps the component is not being created correctly at the moment. Does anyone know what's happening here? cc @scpeters |
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| ``` | ||
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| You can now view the contents of the generated USD file with `usdview` (this should have been installed when setting up the USD dependency): | ||
| ``` | ||
| usdview shapes.usda | ||
| ``` | ||
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| @@ -0,0 +1,244 @@ | ||
| <?xml version="1.0" ?> | ||
| <!-- | ||
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| Try moving a model: | ||
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| ign service -s /world/shapes/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --timeout 300 --req 'name: "box", position: {z: 5.0}' | ||
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| --> | ||
| <sdf version="1.6"> | ||
| <world name="shapes"> | ||
| <scene> | ||
| <ambient>1.0 1.0 1.0</ambient> | ||
| <background>0.8 0.8 0.8</background> | ||
| </scene> | ||
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| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.2 0.2 0.2 1</specular> | ||
| <attenuation> | ||
| <range>1000</range> | ||
| <constant>0.9</constant> | ||
| <linear>0.01</linear> | ||
| <quadratic>0.001</quadratic> | ||
| </attenuation> | ||
| <direction>-0.5 0.1 -0.9</direction> | ||
| </light> | ||
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| <model name="ground_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0.8 0.8 0.8 1</ambient> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.8 0.8 0.8 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
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| <model name="box"> | ||
| <pose>0 0 0.5 0 0 0</pose> | ||
| <link name="box_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.16666</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16666</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16666</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="box_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
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| <visual name="box_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>1 1 1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 0 0 1</ambient> | ||
| <diffuse>1 0 0 1</diffuse> | ||
| <specular>1 0 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
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| <model name="cylinder"> | ||
| <pose>0 -1.5 0.5 0 0 0</pose> | ||
| <link name="cylinder_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.1458</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.1458</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.125</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="cylinder_collision"> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.5</radius> | ||
| <length>1.0</length> | ||
| </cylinder> | ||
| </geometry> | ||
| </collision> | ||
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| <visual name="cylinder_visual"> | ||
| <geometry> | ||
| <cylinder> | ||
| <radius>0.5</radius> | ||
| <length>1.0</length> | ||
| </cylinder> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0 1 0 1</ambient> | ||
| <diffuse>0 1 0 1</diffuse> | ||
| <specular>0 1 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
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| <model name="sphere"> | ||
| <pose>0 1.5 0.5 0 0 0</pose> | ||
| <link name="sphere_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.1</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.1</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.1</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="sphere_collision"> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.5</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
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| <visual name="sphere_visual"> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.5</radius> | ||
| </sphere> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0 0 1 1</ambient> | ||
| <diffuse>0 0 1 1</diffuse> | ||
| <specular>0 0 1 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
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| <model name="capsule"> | ||
| <pose>0 -3.0 0.5 0 0 0</pose> | ||
| <link name="capsule_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.074154</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.074154</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.018769</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="capsule_collision"> | ||
| <geometry> | ||
| <capsule> | ||
| <radius>0.2</radius> | ||
| <length>0.6</length> | ||
| </capsule> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="capsule_visual"> | ||
| <geometry> | ||
| <capsule> | ||
| <radius>0.2</radius> | ||
| <length>0.6</length> | ||
| </capsule> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 1 0 1</ambient> | ||
| <diffuse>1 1 0 1</diffuse> | ||
| <specular>1 1 0 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
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| <model name="ellipsoid"> | ||
| <pose>0 3.0 0.5 0 0 0</pose> | ||
| <link name="ellipsoid_link"> | ||
| <inertial> | ||
| <inertia> | ||
| <ixx>0.068</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.058</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.026</izz> | ||
| </inertia> | ||
| <mass>1.0</mass> | ||
| </inertial> | ||
| <collision name="ellipsoid_collision"> | ||
| <geometry> | ||
| <ellipsoid> | ||
| <radii>0.2 0.3 0.5</radii> | ||
| </ellipsoid> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="ellipsoid_visual"> | ||
| <geometry> | ||
| <ellipsoid> | ||
| <radii>0.2 0.3 0.5</radii> | ||
| </ellipsoid> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 0 1 1</ambient> | ||
| <diffuse>1 0 1 1</diffuse> | ||
| <specular>1 0 1 1</specular> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </world> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| ign_install_all_headers(COMPONENT usd) |
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@@ -15,8 +15,8 @@ | |
| * | ||
| */ | ||
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| #ifndef SDF_USD_GEOMETRY_HH_ | ||
| #define SDF_USD_GEOMETRY_HH_ | ||
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| #include <string> | ||
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| * | ||
| */ | ||
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| #ifndef SDF_USD_JOINT_HH_ | ||
| #define SDF_USD_JOINT_HH_ | ||
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| #include <string> | ||
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@@ -15,8 +15,8 @@ | |
| * | ||
| */ | ||
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| #ifndef SDF_USD_LIGHT_HH_ | ||
| #define SDF_USD_LIGHT_HH_ | ||
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| #include <string> | ||
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| * | ||
| */ | ||
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| #ifndef SDF_USD_LINK_HH_ | ||
| #define SDF_USD_LINK_HH_ | ||
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| #include <string> | ||
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| * | ||
| */ | ||
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| #ifndef SDF_USD_MODEL_HH_ | ||
| #define SDF_USD_MODEL_HH_ | ||
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| #include <string> | ||
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We need to have a dependency on
ign-commonin order to parse meshes to/from SDF and USD. I realize that this is a new dependency that we probably don't want to have, but since it's only needed by theusdcomponent, is it okay to have this new dependency?There was a problem hiding this comment.
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yes, it's ok