usd -> sdf: Read transforms #871
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@@ Coverage Diff @@
## sdf12 #871 +/- ##
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- Coverage 87.95% 87.72% -0.24%
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Files 101 102 +1
Lines 14756 14906 +150
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+ Hits 12979 13076 +97
- Misses 1777 1830 +53
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Signed-off-by: ahcorde <ahcorde@gmail.com>
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Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
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@azeey and @adlarkin I made the requested changes even the rotation one, maybe I will need to open fix in the future or the sdf2usd converter is wrong. Not really sure about this The only change that is still pending is the one related with the |
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@osrf-jenkins retest this please |
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@koonpeng would you mind taking a look at #871 (comment) and giving some feedback? |
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>
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Signed-off-by: ahcorde <ahcorde@gmail.com>
As I mentioned in this comment #924 (review) The suggestions to this PR #924 are breaking the rotations The gripper has a wrong rotation
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Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: ahcorde <ahcorde@gmail.com>
usd/src/usd_parser/USDTransforms.cc
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| 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()); | ||
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| if (op == kXFormOpRotateZYX) | ||
| { | ||
| std::swap(angleX, angleZ); | ||
| } | ||
| t.SetRotation((qX * qY) * qZ); |
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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.
usd/src/usd_parser/USDTransforms.cc
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| qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian()); | ||
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| if (op == kXFormOpRotateZYX) | ||
| { |
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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.
| 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)); |
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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 <ahcorde@gmail.com>
Signed-off-by: ahcorde ahcorde@gmail.com
🎉 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
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