Merge pull request #856 from ignitionrobotics/azeey/12_to_main_20220218

12 ➡️ main

.github/ci/before_cmake.sh

@@ -0,0 +1,56 @@
+#!/bin/sh -l
+
+set -x
+
+BUILD_DIR=`pwd`
+
+cd /tmp
+
+# check that we can compile USD from sources (only Focal)
+mkdir cmake_test
+cd cmake_test
+
+echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
+
+return_code=0
+cmake . || return_code=$(($return_code + $?))
+if [ $return_code -eq 0 ]
+then
+ # compile USD from sources
+ cd /tmp
+ mkdir usd_binaries
+ cd usd_binaries
+
+ apt-get install libboost-all-dev libtbb-dev p7zip-full -y
+
+ wget https://github.com/PixarAnimationStudios/USD/archive/refs/tags/v21.11.zip
+ unzip v21.11.zip
+ cd USD-21.11
+ mkdir build
+ cd build
+
+ cmake -DCMAKE_INSTALL_PREFIX="/tmp/USD" -DCMAKE_PREFIX_PATH="/tmp/USD" \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DPXR_PREFER_SAFETY_OVER_SPEED=ON \
+ -DPXR_ENABLE_PYTHON_SUPPORT=OFF \
+ -DBUILD_SHARED_LIBS=ON \
+ -DTBB_USE_DEBUG_BUILD=OFF \
+ -DPXR_BUILD_DOCUMENTATION=OFF \
+ -DPXR_BUILD_TESTS=OFF \
+ -DPXR_BUILD_EXAMPLES=OFF \
+ -DPXR_BUILD_TUTORIALS=OFF \
+ -DPXR_BUILD_USD_TOOLS=OFF \
+ -DPXR_BUILD_IMAGING=OFF \
+ -DPXR_BUILD_USD_IMAGING=OFF \
+ -DPXR_BUILD_USDVIEW=OFF \
+ -DPXR_BUILD_ALEMBIC_PLUGIN=OFF \
+ -DPXR_BUILD_DRACO_PLUGIN=OFF \
+ -DPXR_ENABLE_MATERIALX_SUPPORT=OFF \
+ -DBoost_INCLUDE_DIR=/usr/include \
+ -DBoost_NO_BOOST_CMAKE=FALSE \
+ ..
+
+ make -j$(nproc) install
+fi
+
+cd $BUILD_DIR

.github/ci/packages.apt

@@ -1,7 +1,9 @@
 libignition-cmake2-dev
+libignition-common5-dev
 libignition-math7-dev
 libignition-tools-dev
 libignition-utils1-dev
+libignition-utils1-cli-dev
 libtinyxml2-dev
 liburdfdom-dev
 libxml2-utils

.github/workflows/ci.yml

@@ -18,6 +18,11 @@ 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

CMakeLists.txt

@@ -109,8 +109,18 @@ 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-common5 COMPONENTS graphics REQUIRED_BY usd)
+ set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
+
+ ########################################
+ # Find PXR
+ ign_find_package(pxr QUIET REQUIRED_BY usd PKGCONFIG pxr)
+
+ ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS
+ COMPONENTS usd)
 
- ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS)
  ign_create_packages()
 
  add_subdirectory(sdf)

examples/usdConverter/README.md

@@ -0,0 +1,63 @@
+# 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-common5](https://github.com/ignitionrobotics/ign-common)
+* [ignition-utils1 (including the CLI component)](https://github.com/ignitionrobotics/ign-utils)
+
+## Setup
+
+Build sdformat. The steps below follow a traditional cmake build, but sdformat
+can also be built with [colcon](https://colcon.readthedocs.io/en/released/index.html):
+```bash
+git clone https://github.com/ignitionrobotics/sdformat.git
+cd sdformat
+mkdir build
+cd build
+cmake ..
+make
+```
+
+You should now have an executable named `sdf2usd` in the `sdformat/build/bin` directory.
+This executable can be used to convert a SDF world file to a USD file.
+To see how the executable works, run the following command from the `sdformat/build/bin` directory:
+```bash
+./sdf2usd -h
+```
+
+To convert [shapes_world.sdf](https://github.com/ignitionrobotics/sdformat/blob/sdf12/test/sdf/shapes_world.sdf) to its USD representation as a file called `shapes.usd`, run the following commands:
+
+```bash
+wget https://raw.githubusercontent.com/ignitionrobotics/sdformat/sdf12/test/sdf/shapes_world.sdf
+./sdf2usd shapes_world.sdf shapes.usd
+```
+
+You can now view the contents of the generated USD file with `usdcat` (this should have been installed when setting up the USD dependency):
+```bash
+usdcat shapes.usd
+```
+
+To see the visual representation of the USD world, run `usdview` (this should have also been installed when setting up the USD dependency):
+```bash
+usdview shapes.usd
+```
+
+### Note about building with colcon
+You may need to add the USD library path to your `LD_LIBRARY_PATH` environment variable after sourcing the colcon workspace.
+If the USD library path is not a part of `LD_LIBRARY_PATH`, you will probably see the following error when running the `sdf2usd` executable:
+```bash
+sdf2usd: error while loading shared libraries: libusd_usd.so: cannot open shared object file: No such file or directory
+```
+The typical USD library path is `<usd_installation_path>/lib`.
+So, if you installed USD at `/usr/local/USD`, the following command on Linux properly updates the `LD_LIBRARY_PATH` environment variable:
+```bash
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/USD/lib
+```
+
+Another thing to note if building with colcon is that after sourcing the workspace with sdformat,
+the `sdf2usd` executable can be run without having to go to the `sdformat/build/bin` directory.
+So, instead of going to that directory and running `./sdf2usd ...`, you should be able to run `sdf2usd ...` from anywhere.

include/sdf/Error.hh

@@ -145,7 +145,7 @@ namespace sdf
  VERSION_DEPRECATED,
 
  /// \brief Merge include is unspported for the type of entity being
- /// included.
+ /// included, or the custom parser does not support merge includes.
  MERGE_INCLUDE_UNSUPPORTED,
  };
 

include/sdf/InterfaceElements.hh

@@ -154,6 +154,17 @@ class SDFORMAT_VISIBLE NestedInclude
  /// \param[in] _includeElement The include element
  public: void SetIncludeElement(sdf::ElementPtr _includeElement);
 
+
+ /// \brief Set whether the interface model is to be merge-included (i.e
+ /// set the value of `//include/[@merge]`)
+ /// \param[in] _isMerge True if the interface model is to be merge included
+ public: void SetIsMerge(bool _isMerge);
+
+ /// \brief Whether the interface model is to be merge-included
+ /// \return If `//include/[@merge]` is set, this returns the value of the
+ /// attribute, otherwise, nullopt.
+ public: const std::optional<bool> &IsMerge() const;
+
  /// \brief Provides the URI as specified in `//include/uri`. This may or may
  /// not end with a file extension (it will not end with an extension if it
  /// refers to a model package).

include/sdf/InterfaceModel.hh

@@ -124,10 +124,20 @@ class SDFORMAT_VISIBLE InterfaceModel
  /// \brief Gets registered links.
  public: const std::vector<sdf::InterfaceLink> &Links() const;
 
+ /// \brief Whether the custom parser supports merge-include.
+ /// \return True if the custom parser supports merge-include
+ public: bool ParserSupportsMergeInclude() const;
+
+ /// \brief Set whether the custom parser supports merge-include.
+ /// \brief[in] _val True if the custom parser supports merge-include.
+ public: void SetParserSupportsMergeInclude(bool _val);
+
  /// \brief Recursively invoke the reposture callback if a the callback is set.
  /// \param[in] _poseGraph Object used for resolving poses.
- private: void InvokeRespostureFunction(
- sdf::ScopedGraph<PoseRelativeToGraph> _graph) const;
+ /// \param[in] _name Override name of graph scope.
+ private: void InvokeRepostureFunction(
+ sdf::ScopedGraph<PoseRelativeToGraph> _graph,
+ const std::optional<std::string> &_name) const;
 
  friend World;
  friend Model;

include/sdf/Link.hh

@@ -76,6 +76,13 @@ namespace sdf
  /// \sa uint64_t VisualCount() const
  public: const Visual *VisualByIndex(const uint64_t _index) const;
 
+ /// \brief Get a mutable visual based on an index.
+ /// \param[in] _index Index of the visual. The index should be in the
+ /// range [0..VisualCount()).
+ /// \return Pointer to the visual. Nullptr if the index does not exist.
+ /// \sa uint64_t VisualCount() const
+ public: Visual *VisualByIndex(uint64_t _index);
+
  /// \brief Get whether a visual name exists.
  /// \param[in] _name Name of the visual to check.
  /// \return True if there exists a visual with the given name.
@@ -86,6 +93,11 @@ namespace sdf
  /// \return Pointer to the visual. Nullptr if the name does not exist.
  public: const Visual *VisualByName(const std::string &_name) const;
 
+ /// \brief Get a mutable visual based on a name.
+ /// \param[in] _name Name of the visual.
+ /// \return Pointer to the visual. Nullptr if the name does not exist.
+ public: Visual *VisualByName(const std::string &_name);
+
  /// \brief Get the number of collisions.
  /// \return Number of collisions contained in this Link object.
  public: uint64_t CollisionCount() const;
@@ -97,6 +109,13 @@ namespace sdf
  /// \sa uint64_t CollisionCount() const
  public: const Collision *CollisionByIndex(const uint64_t _index) const;
 
+ /// \brief Get a mutable collision based on an index.
+ /// \param[in] _index Index of the collision. The index should be in the
+ /// range [0..CollisionCount()).
+ /// \return Pointer to the collision. Nullptr if the index does not exist.
+ /// \sa uint64_t CollisionCount() const
+ public: Collision *CollisionByIndex(uint64_t _index);
+
  /// \brief Get whether a collision name exists.
  /// \param[in] _name Name of the collision to check.
  /// \return True if there exists a collision with the given name.
@@ -107,6 +126,11 @@ namespace sdf
  /// \return Pointer to the collision. Nullptr if the name does not exist.
  public: const Collision *CollisionByName(const std::string &_name) const;
 
+ /// \brief Get a mutable collision based on a name.
+ /// \param[in] _name Name of the collision.
+ /// \return Pointer to the collision. Nullptr if the name does not exist.
+ public: Collision *CollisionByName(const std::string &_name);
+
  /// \brief Get the number of lights.
  /// \return Number of lights contained in this Link object.
  public: uint64_t LightCount() const;
@@ -118,6 +142,13 @@ namespace sdf
  /// \sa uint64_t LightCount() const
  public: const Light *LightByIndex(const uint64_t _index) const;
 
+ /// \brief Get a mutable light based on an index.
+ /// \param[in] _index Index of the light. The index should be in the
+ /// range [0..LightCount()).
+ /// \return Pointer to the light. Nullptr if the index does not exist.
+ /// \sa uint64_t LightCount() const
+ public: Light *LightByIndex(uint64_t _index);
+
  /// \brief Get whether a light name exists.
  /// \param[in] _name Name of the light to check.
  /// \return True if there exists a light with the given name.
@@ -128,6 +159,11 @@ namespace sdf
  /// \return Pointer to the light. Nullptr if the name does not exist.
  public: const Light *LightByName(const std::string &_name) const;
 
+ /// \brief Get a mutable light based on a name.
+ /// \param[in] _name Name of the light.
+ /// \return Pointer to the light. Nullptr if the name does not exist.
+ public: Light *LightByName(const std::string &_name);
+
  /// \brief Get the number of sensors.
  /// \return Number of sensors contained in this Link object.
  public: uint64_t SensorCount() const;
@@ -139,6 +175,13 @@ namespace sdf
  /// \sa uint64_t SensorCount() const
  public: const Sensor *SensorByIndex(const uint64_t _index) const;
 
+ /// \brief Get a mutable sensor based on an index.
+ /// \param[in] _index Index of the sensor. The index should be in the
+ /// range [0..SensorCount()).
+ /// \return Pointer to the sensor. Nullptr if the index does not exist.
+ /// \sa uint64_t SensorCount() const
+ public: Sensor *SensorByIndex(uint64_t _index);
+
  /// \brief Get whether a sensor name exists.
  /// \param[in] _name Name of the sensor to check.
  /// \return True if there exists a sensor with the given name.
@@ -151,6 +194,13 @@ namespace sdf
  /// \sa bool SensorNameExists(const std::string &_name) const
  public: const Sensor *SensorByName(const std::string &_name) const;
 
+ /// \brief Get a mutable sensor based on a name.
+ /// \param[in] _name Name of the sensor.
+ /// \return Pointer to the sensor. Nullptr if a sensor with the given name
+ /// does not exist.
+ /// \sa bool SensorNameExists(const std::string &_name) const
+ public: Sensor *SensorByName(const std::string &_name);
+
  /// \brief Get the number of particle emitters.
  /// \return Number of particle emitters contained in this Link object.
  public: uint64_t ParticleEmitterCount() const;
@@ -164,6 +214,14 @@ namespace sdf
  public: const ParticleEmitter *ParticleEmitterByIndex(
  const uint64_t _index) const;
 
+ /// \brief Get a mutable particle emitter based on an index.
+ /// \param[in] _index Index of the particle emitter.
+ /// The index should be in the range [0..ParticleEmitterCount()).
+ /// \return Pointer to the particle emitter. Nullptr if the index does
+ /// not exist.
+ /// \sa uint64_t ParticleEmitterCount() const
+ public: ParticleEmitter *ParticleEmitterByIndex(uint64_t _index);
+
  /// \brief Get whether a particle emitter name exists.
  /// \param[in] _name Name of the particle emitter to check.
  /// \return True if there exists a particle emitter with the given name.
@@ -177,6 +235,13 @@ namespace sdf
  public: const ParticleEmitter *ParticleEmitterByName(
  const std::string &_name) const;
 
+ /// \brief Get a mutable particle emitter based on a name.
+ /// \param[in] _name Name of the particle emitter.
+ /// \return Pointer to the particle emitter. Nullptr if a particle emitter
+ /// with the given name does not exist.
+ /// \sa bool ParticleEmitterNameExists(const std::string &_name) const
+ public: ParticleEmitter *ParticleEmitterByName(const std::string &_name);
+
  /// \brief Get the inertial value for this link. The inertial object
  /// consists of the link's mass, a 3x3 rotational inertia matrix, and
  /// a pose for the inertial reference frame. The units for mass is