gazebosim · adlarkin · Jan 24, 2022 · Jan 6, 2022 · Jan 7, 2022 · Jan 10, 2022
@@ -1,3 +1,4 @@
+libignition-common4-dev
 libignition-cmake2-dev
 libignition-math6-dev
 libignition-tools-dev

@@ -109,8 +109,17 @@ if (BUILD_SDF)
   ign_find_package(ignition-utils1 VERSION REQUIRED)
   set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
 
+  ########################################
+  # Find ignition common
+  ign_find_package(ignition-common4 COMPONENTS graphics REQUIRED_BY usd)
+  set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+
+  ########################################
+  # Find PXR
+  ign_find_package(pxr REQUIRED_BY usd PKGCONFIG pxr)
 
-  ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS)
+  ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS
+    COMPONENTS usd)
   ign_create_packages()
 
   add_subdirectory(sdf)

@@ -0,0 +1,30 @@
+# Converting between SDF and USD
+
+This example shows how a world in a SDF file can be converted to [USD](https://graphics.pixar.com/usd/release/index.html).
+
+## Requirements
+
+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)
+
+## Setup
+
+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
+```
+
+You should now have an executable named `sdf2usd`, 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
+./sdf2usd ../shapes.sdf shapes.usda
+```
+
+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
+```
diff --git a/examples/usdConverter/shapes.sdf b/examples/usdConverter/shapes.sdf
@@ -0,0 +1,244 @@
+<?xml version="1.0" ?>
+<!--
+
+Try moving a model:
+
+    ign service -s /world/shapes/set_pose --reqtype ignition.msgs.Pose --reptype ignition.msgs.Boolean --timeout 300 --req 'name: "box", position: {z: 5.0}'
+
+-->
+<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>
+
+    <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>
+
+    <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>
+
+    <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>
+
+        <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>
+
+    <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>
+
+        <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>
+
+    <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>
+
+        <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>
+
+    <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>
+
+    <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>
diff --git a/usd/include/CMakeLists.txt b/usd/include/CMakeLists.txt
@@ -0,0 +1 @@
+ign_install_all_headers(COMPONENT usd)
@@ -0,0 +1 @@
+ign_install_all_headers(COMPONENT usd)
diff --git a/usd/include/sdf/usd/CMakeLists.txt b/usd/include/sdf/usd/CMakeLists.txt
@@ -0,0 +1 @@
+ign_install_all_headers(COMPONENT usd)
diff --git a/usd/include/sdf/usd/World.hh b/usd/include/sdf/usd/World.hh
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef SDF_USD_WORLD_HH_
+#define SDF_USD_WORLD_HH_
+
+#include <string>
+
+#include <pxr/usd/usd/stage.h>
+
+#include "sdf/World.hh"
+#include "sdf/sdf_config.h"
+
+namespace usd
+{
+  /// \brief Parse an SDF world into a USD stage.
+  /// \param[in] _world The SDF world to parse.
+  /// \param[in] _stage The stage that should contain the USD representation
+  /// of _world.
+  /// \param[in] _path The USD path of the parsed world in _stage, which must be
+  /// a valid USD path.
+  /// \return True if _world was succesfully parsed into _stage with a path of
+  /// _path. False otherwise.
+  bool SDFORMAT_VISIBLE ParseSdfWorld(const sdf::World &_world,
+      pxr::UsdStageRefPtr &_stage, const std::string &_path);
+}
+
+#endif
@@ -0,0 +1,22 @@
+# Collect source files into the "sources" variable and unit test files into the
+# "gtest_sources" variable.
+ign_get_libsources_and_unittests(sources gtest_sources)
+
+ign_add_component(usd SOURCES ${sources} GET_TARGET_NAME usd_target)
+
+target_include_directories(${usd_target}
+  PUBLIC
+    ${PXR_INCLUDE_DIRS}
+)
+
+target_link_libraries(${usd_target}
+  PUBLIC
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    ignition-common${IGN_COMMON_VER}::graphics
+    ${PXR_LIBRARIES}
+)
+
+# Build the unit tests
+ign_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${usd_target})
+
+add_subdirectory(cmd)
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		ign_install_all_headers(COMPONENT usd)
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