sdf -> usd Parse links and ground planes

[ahcorde]

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

🦟 Bug fix

Summary

This PR parse SDF up to links and convert it to USD

• Links include inertial
• Added tests for lights inside links

Checklist

• Signed all commits for DCO
• Added tests
• 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.

[codecov-commenter]

Codecov Report

Merging #828 (f816dd4) into sdf12 (8e89865) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##            sdf12     #828   +/-   ##
=======================================
  Coverage   90.80%   90.80%           
=======================================
  Files          78       78           
  Lines       12555    12555           
=======================================
  Hits        11400    11400           
  Misses       1155     1155           

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 9272cb6...f816dd4. Read the comment docs.

[adlarkin]

LGTM, but we should probably wait to merge this until the other PRs that depend on it (for example, joints) are created. I say this because we are introducing a new API for parsing a model, and once we merge this, we cannot update the model API since that would break API. So, let's make sure that the APIs proposed here don't cause issues with other parts of model parsing before doing any merging.

[adlarkin]

LGTM! I am going to review the other PRs that require this one (#829, #830, #831) before giving this PR official approval to make sure that we don't need to modify the public API introduced in this PR for any of the other dependent PRs.

Also, it would be nice if we can get #850 reviewed and merged before merging this PR, because if we do decide to merge #850, then a few internal API calls made in this PR will need to be updated.

[adlarkin]

Also, it would be nice if we can get #850 reviewed and merged before merging this PR, because if we do decide to merge #850, then a few internal API calls made in this PR will need to be updated.

I have merged in #850 and resolved conflicts in f816dd4. I will now work on getting #829, #830, and #831 updated/reviewed.

[ahcorde]

@adlarkin CI is working again

[osrf-triage]

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