gazebosim · ahcorde · Jan 25, 2022 · Jan 6, 2022 · Jan 7, 2022 · Jan 8, 2022
diff --git a/.github/ci/before_cmake.sh b/.github/ci/before_cmake.sh
@@ -0,0 +1,58 @@
+#!/bin/sh -l
+
+set -x
+
+BUILD_DIR=`pwd`
+
+cd /tmp
+
+# check that we can compile USD from sources
+mkdir cmake_test
+cd cmake_test
+
+echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
+
+return_code=0
+cmake . || return_code=$(($return_code + $?))
+if [ $return_code -eq 0 ]
+then
+  # compile USD from sources
+  cd /tmp
+  mkdir usd_binaries
+  cd usd_binaries
+
+  apt-get install libboost-all-dev libtbb-dev p7zip-full -y
+
+  wget https://github.com/PixarAnimationStudios/USD/archive/refs/tags/v21.11.zip
+  unzip v21.11.zip
+  sed -i '2059 i \ \ \ \ requiredDependencies.remove(BOOST)' USD-21.11/build_scripts/build_usd.py
+  cd USD-21.11
+  mkdir build
+  cd build
+
+  cmake -DCMAKE_INSTALL_PREFIX="/tmp/USD" -DCMAKE_PREFIX_PATH="/tmp/USD" \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPXR_PREFER_SAFETY_OVER_SPEED=ON \
+    -DPXR_ENABLE_PYTHON_SUPPORT=OFF \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DTBB_USE_DEBUG_BUILD=OFF  \
+    -DPXR_BUILD_DOCUMENTATION=OFF  \
+    -DPXR_BUILD_TESTS=OFF  \
+    -DPXR_BUILD_EXAMPLES=OFF  \
+    -DPXR_BUILD_TUTORIALS=OFF  \
+    -DPXR_BUILD_USD_TOOLS=OFF  \
+    -DPXR_BUILD_IMAGING=OFF  \
+    -DPXR_BUILD_USD_IMAGING=OFF  \
+    -DPXR_BUILD_USDVIEW=OFF  \
+    -DPXR_BUILD_ALEMBIC_PLUGIN=OFF  \
+    -DPXR_BUILD_DRACO_PLUGIN=OFF  \
+    -DPXR_ENABLE_MATERIALX_SUPPORT=OFF  \
+    -DBoost_NO_BOOST_CMAKE=On  \
+    -DBoost_INCLUDE_DIR=/usr/include  \
+    -DBoost_NO_BOOST_CMAKE=FALSE \
+    ..
+
+  make -j$(nproc) install
+fi
+
+cd $BUILD_DIR
diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -1,7 +1,9 @@
+libignition-common4-dev
 libignition-cmake2-dev
 libignition-math6-dev
 libignition-tools-dev
 libignition-utils1-dev
+libignition-utils1-cli-dev
 libtinyxml2-dev
 liburdfdom-dev
 libxml2-utils

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -7,6 +7,11 @@ jobs:
     runs-on: ubuntu-latest
     name: Ubuntu Bionic CI
     steps:
+      - name: Set env
+        run: |
+          export PATH=$PATH:/tmp/usd_binaries/bin
+          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/tmp/usd_binaries/lib
+          export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/tmp/usd_binaries
       - name: Checkout
         uses: actions/checkout@v2
       - name: Compile and test
@@ -18,6 +23,11 @@ jobs:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
     steps:
+      - name: Set env
+        run: |
+          echo "PATH=$PATH:/tmp/USD/bin" >> $GITHUB_ENV
+          echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/tmp/USD/lib" >> $GITHUB_ENV
+          echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/tmp/USD" >> $GITHUB_ENV
       - name: Checkout
         uses: actions/checkout@v2
       - name: Compile and test

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -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)

diff --git a/examples/usdConverter/README.md b/examples/usdConverter/README.md
@@ -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>