usd -> sdf: Read transforms #871

ahcorde · 2022-03-08T21:31:23Z

Signed-off-by: ahcorde [email protected]

🎉 New feature

Summary

These functions allow to read the transform of a prim. It allows to read the tranforms from a prim to its parents and it should stop when the name given to the functions is equal to the name of the parent.

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)
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codecov-commenter · 2022-03-08T22:23:42Z

Codecov Report

Merging #871 (cf28342) into sdf12 (6ecfcc2) will decrease coverage by 0.23%.
The diff coverage is 64.90%.

@@            Coverage Diff             @@
##            sdf12     #871      +/-   ##
==========================================
- Coverage   87.95%   87.72%   -0.24%     
==========================================
  Files         101      102       +1     
  Lines       14756    14906     +150     
==========================================
+ Hits        12979    13076      +97     
- Misses       1777     1830      +53

Impacted Files	Coverage Δ
usd/src/usd_parser/USDTransforms.cc	`64.66% <64.66%> (ø)`
usd/src/usd_parser/USDData.cc	`63.55% <100.00%> (ø)`

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Signed-off-by: ahcorde <[email protected]>

Signed-off-by: Ashton Larkin <[email protected]>

…hysics

Signed-off-by: ahcorde <[email protected]>

… ahcorde/usd_to_sdf_transforms

Signed-off-by: ahcorde <[email protected]>

Signed-off-by: Ashton Larkin <[email protected]>

Signed-off-by: ahcorde <[email protected]>

usd/src/usd_parser/USDTransforms.cc

usd/src/usd_parser/USDTransforms_TEST.cc

Signed-off-by: ahcorde <[email protected]>

… ahcorde/usd_to_sdf_transforms

ahcorde · 2022-03-25T08:38:30Z

@osrf-jenkins retest this please

adlarkin · 2022-03-27T04:22:59Z

@koonpeng would you mind taking a look at #871 (comment) and giving some feedback?

…ransforms

Signed-off-by: ahcorde <[email protected]>

Signed-off-by: Ashton Larkin <[email protected]>

Signed-off-by: ahcorde <[email protected]>

adlarkin · 2022-03-30T22:14:01Z

I have reviewed the changes in this PR and have a few change proposals, which I listed in a new PR: #924

cc @ahcorde @azeey

ahcorde · 2022-03-31T08:30:47Z

I have reviewed the changes in this PR and have a few change proposals, which I listed in a new PR: #924

cc @ahcorde @azeey

As I mentioned in this comment #924 (review) The suggestions to this PR #924 are breaking the rotations

The gripper has a wrong rotation

Signed-off-by: Ashton Larkin <[email protected]> Co-authored-by: ahcorde <[email protected]>

usd/src/usd_parser/USDTransforms.cc

azeey · 2022-03-31T13:27:39Z

usd/src/usd_parser/USDTransforms.cc

+      ignition::math::Quaterniond qX, qY, qZ;
+      ignition::math::Angle angleX(IGN_DTOR(rotationEuler[0]));
+      ignition::math::Angle angleY(IGN_DTOR(rotationEuler[1]));
+      ignition::math::Angle angleZ(IGN_DTOR(rotationEuler[2]));
+      qX = ignition::math::Quaterniond(angleX.Normalized().Radian(), 0, 0);
+      qY = ignition::math::Quaterniond(0, angleY.Normalized().Radian(), 0);
+      qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian());
+
+      if (op == kXFormOpRotateZYX)
+      {
+        std::swap(angleX, angleZ);
+      }
+      t.SetRotation((qX * qY) * qZ);


Since ign-math already does Euler angles, my recommendation would be to use that instead of creating 3 quaternions here. I think this can be simplified as:

// SDFormat/ign-math uses extrinsic XYZ rotations, so it's the same as `rotateXYZ` ignition::math::Quaterniond rot(IGN_DTOR(rotationEuler[0]), IGN_DTOR(rotationEuler[1]), IGN_DTOR(rotationEuler[2])) if (op == kxFormOpRotateZYX){ rot.Invert(); } t.SetRotation(rot);

See https://graphics.pixar.com/usd/release/api/class_usd_geom_xformable.html#details for USD rotation order

See http://sdformat.org/tutorials?tut=specify_pose&cat=specification& for SDFormat rotation order.

azeey · 2022-03-31T13:33:37Z

usd/src/usd_parser/USDTransforms.cc

+      qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian());
+
+      if (op == kXFormOpRotateZYX)
+      {


The angles are swapped here, but the angles are not used after this line, so it doesn't affect the end result. See my recommendation above.

azeey · 2022-03-31T13:40:43Z

usd/src/usd_parser/USDTransforms_TEST.cc

+    EXPECT_TRUE(ignition::math::equal(
+      _rotation.value().Roll(),
+       usdTransforms.Rotation().value().Roll(), 0.1));
+   EXPECT_TRUE(ignition::math::equal(
+     _rotation.value().Pitch(),
+      usdTransforms.Rotation().value().Pitch(), 0.1));
+    EXPECT_TRUE(ignition::math::equal(
+      _rotation.value().Yaw(),
+       usdTransforms.Rotation().value().Yaw(), 0.1));


This is fine. I would probably lower the tolerance a bit. If you want, you could just do
EXPECT_TRUE(_rotation->Equal(*usdTransforms.Rotation(), tol));

Signed-off-by: ahcorde <[email protected]>

Approved

ahcorde requested review from adlarkin and koonpeng March 8, 2022 21:31

ahcorde self-assigned this Mar 8, 2022

ahcorde requested review from azeey and scpeters as code owners March 8, 2022 21:31

ahcorde added 2 commits March 9, 2022 13:22

USD -> SDF: Added cmd line tool

48c499b

Signed-off-by: ahcorde <[email protected]>

USD -> SDF: Parse Physics and generated SDF file

3a9b349

Signed-off-by: ahcorde <[email protected]>

ahcorde force-pushed the ahcorde/usd_to_sdf_physics branch from 8955a74 to 3a9b349 Compare March 9, 2022 12:49

usd -> sdf: Read transforms

576f9bd

Signed-off-by: ahcorde <[email protected]>

ahcorde force-pushed the ahcorde/usd_to_sdf_transforms branch from d09ce09 to 576f9bd Compare March 9, 2022 13:05

ahcorde and others added 7 commits March 9, 2022 19:50

Fixed var name

a869404

Signed-off-by: ahcorde <[email protected]>

Added tests

0d2f1ae

Signed-off-by: ahcorde <[email protected]>

review feedback

d939ca4

Signed-off-by: Ashton Larkin <[email protected]>

more review feedback

bffdc8f

Signed-off-by: Ashton Larkin <[email protected]>

Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_p…

213fb64

…hysics

feedback

460d693

Signed-off-by: ahcorde <[email protected]>

Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_physics' into…

866ba4f

… ahcorde/usd_to_sdf_transforms

ahcorde force-pushed the ahcorde/usd_to_sdf_transforms branch from c0eaf1d to 866ba4f Compare March 10, 2022 09:37

ahcorde added the usd label Mar 10, 2022

ahcorde and others added 4 commits March 10, 2022 13:39

Fix when physics schema is not available

a01e4f9

Signed-off-by: ahcorde <[email protected]>

review feedback

318eff9

Signed-off-by: Ashton Larkin <[email protected]>

fix test

602a176

Signed-off-by: Ashton Larkin <[email protected]>

Added some feedback

2ba1b26

Signed-off-by: ahcorde <[email protected]>

koonpeng previously requested changes Mar 14, 2022

View reviewed changes

usd/src/usd_parser/USDTransforms.cc Outdated Show resolved Hide resolved

usd/src/usd_parser/USDTransforms.cc Outdated Show resolved Hide resolved

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usd/src/usd_parser/USDTransforms_TEST.cc Outdated Show resolved Hide resolved

ahcorde added 3 commits March 14, 2022 12:47

Added feedback

d8212ae

Signed-off-by: ahcorde <[email protected]>

Added feedback

50eabdb

Signed-off-by: ahcorde <[email protected]>

Merge remote-tracking branch 'origin/ahcorde/usd_to_sdf_physics' into…

fea108f

… ahcorde/usd_to_sdf_transforms

ahcorde requested a review from adlarkin March 24, 2022 18:20

adlarkin and others added 10 commits March 27, 2022 00:23

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

4cd064a

Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_t…

34dad46

…ransforms

Convert FindStage to const

479330f

Signed-off-by: ahcorde <[email protected]>

Added rotateZYX test

0198bfa

Signed-off-by: ahcorde <[email protected]>

remove unneeded cmake code

b270192

Signed-off-by: Ashton Larkin <[email protected]>

make sure only XYZ or ZYX rotation is enabled, but not both

e2acde3

Signed-off-by: Ashton Larkin <[email protected]>

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

5e58b72

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

0d4d298

be more explicit about testing XYZ vs ZYX rotation

efbbc63

Signed-off-by: Ashton Larkin <[email protected]>

test nested position transforms

da475d4

Signed-off-by: Ashton Larkin <[email protected]>

adlarkin force-pushed the ahcorde/usd_to_sdf_transforms branch from 37c78f1 to da475d4 Compare March 30, 2022 20:10

make linters happy

68b26c9

Signed-off-by: ahcorde <[email protected]>

adlarkin mentioned this pull request Mar 30, 2022

USD -> SDF transform fixes #924

Merged

7 tasks

ahcorde and others added 2 commits March 31, 2022 10:30

Merge branch 'sdf12' into ahcorde/usd_to_sdf_transforms

5f6f333

USD -> SDF transform fixes (#924)

cf28342

Signed-off-by: Ashton Larkin <[email protected]> Co-authored-by: ahcorde <[email protected]>

azeey reviewed Mar 31, 2022

View reviewed changes

added TODO

3bb4427

Signed-off-by: ahcorde <[email protected]>

ahcorde mentioned this pull request Oct 26, 2022

usd2sdf: Potential issue in the USDTransforms class gazebosim/gz-usd#13

Open

azeey approved these changes Mar 31, 2022

View reviewed changes

ahcorde enabled auto-merge (squash) March 31, 2022 17:08

ahcorde merged commit 7861815 into sdf12 Mar 31, 2022

ahcorde deleted the ahcorde/usd_to_sdf_transforms branch March 31, 2022 18:16

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usd -> sdf: Read transforms #871

usd -> sdf: Read transforms #871

ahcorde commented Mar 8, 2022

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ahcorde commented Mar 25, 2022

adlarkin commented Mar 27, 2022

adlarkin commented Mar 30, 2022 •

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ahcorde commented Mar 31, 2022

azeey Mar 31, 2022

azeey Mar 31, 2022

azeey Mar 31, 2022

usd -> sdf: Read transforms #871

usd -> sdf: Read transforms #871

Conversation

ahcorde commented Mar 8, 2022

🎉 New feature

Summary

Checklist

codecov-commenter commented Mar 8, 2022 • edited Loading

Codecov Report

ahcorde commented Mar 25, 2022

adlarkin commented Mar 27, 2022

adlarkin commented Mar 30, 2022 • edited Loading

ahcorde commented Mar 31, 2022

azeey Mar 31, 2022

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codecov-commenter commented Mar 8, 2022 •

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adlarkin commented Mar 30, 2022 •

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