USD -> SDF: Added lights attached to the world #875
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Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
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Signed-off-by: Ashton Larkin <[email protected]>
Signed-off-by: Ashton Larkin <[email protected]>
Signed-off-by: ahcorde <[email protected]>
… ahcorde/usd_to_sdf_transforms
…nto ahcorde/usd_to_sdf_lights
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: Ashton Larkin <[email protected]>
Signed-off-by: Ashton Larkin <[email protected]>
Signed-off-by: ahcorde <[email protected]>
koonpeng
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Mar 14, 2022
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
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…nto ahcorde/usd_to_sdf_lights
koonpeng
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Mar 24, 2022
Signed-off-by: ahcorde <[email protected]>
…nitionrobotics/sdformat into ahcorde/usd_to_sdf_transforms
Signed-off-by: ahcorde <[email protected]>
…nitionrobotics/sdformat into ahcorde/usd_to_sdf_transforms
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
…nto ahcorde/usd_to_sdf_lights
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Signed-off-by: Ashton Larkin <[email protected]>
adlarkin
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Mar 31, 2022
usd/src/usd_parser/USDWorld.cc
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| // In general USD models used in Issac Sim define the model path | ||
| // under a root path for example: | ||
| // -> /robot_name/robot_name_link0 | ||
| // But sometimes for enviroments it uses just a simple path: | ||
| // -> /ground_plane | ||
| // -> /wall_0 | ||
| // the shortName variable defines if this is the first case when it's | ||
| // False or when it's true then it's the second case. | ||
| // This conversion might only work with Issac Sim USDs | ||
| if (primPathTokens.size() >= 2) | ||
| { | ||
| bool shortName = false; | ||
| if (primPathTokens.size() == 2) | ||
| { | ||
| if (prim.IsA<pxr::UsdGeomGprim>() || (primType == "Plane")) | ||
| { | ||
| if (primName != "imu") | ||
| { | ||
| linkName = "/" + primPathTokens[0]; | ||
| shortName = true; | ||
| } | ||
| } | ||
| } | ||
| if (!shortName) | ||
| { | ||
| linkName = "/" + primPathTokens[0] + "/" + primPathTokens[1]; | ||
| } | ||
| } |
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Is this code mainly used for finding the parent prim of the light? I find it a little odd that we are manually parsing through the first 2 levels of the prim path to find the parent. I imagine this could be problematic if the light's parent isn't in the first two levels of the stage. Is there a better way to find the parent of a light that offers more flexibility/is less error prone?
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I didn't find a better way to do it, I'm open to suggestions
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I can't think of a better way at the moment - since we are pressed for time, I added a TODO note in 847271a and created an issue in #927.
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: Ashton Larkin <[email protected]>
adlarkin
approved these changes
Mar 31, 2022
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Signed-off-by: ahcorde [email protected]
🎉 New feature
Summary
USD -> SDF: Added lights attached to the world
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