World exporter #474

gonzodepedro · 2020-12-04T21:43:16Z

Adds a plugin to export worlds to meshes

Requires: gazebosim/gz-common#133

Signed-off-by: Gonzalo de Pedro gonzalo@depedro.com.ar

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

chapulina

I haven't tried it yet. Just left some high-level comments. I also believe we need an ign-common3 release.

src/systems/world_exporter/WorldExporter.hh

src/systems/world_exporter/WorldExporter.cc

nkoenig · 2020-12-10T15:00:00Z

Would it be possible to add a short tutorial that describes what the world exporter is and how to use it?

gonzodepedro · 2020-12-10T21:41:41Z

Would it be possible to add a short tutorial that describes what the world exporter is and how to use it?

That is a good idea. Should I add it as a Readme file in the system plugin directory or is there a better place to add it?

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

chapulina · 2020-12-14T20:12:08Z

Should I add it as a Readme file in the system plugin directory or is there a better place to add it?

Could you create a new one in the tutorials folder?

https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/tutorials

Be sure to link to it from tutorials.md.in. Those tutorials are generated when we do make doc and are rendered here.

Thanks!

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2020-12-22T00:20:47Z

@gonzodepedro , I added a sample world that you could use in the tutorial. See: 63c9eb7

chapulina

Nice, it works for me!

@gonzodepedro , besides the tutorial, would it be possible to add a test under test/integration? At a minimum, I think it could load a world that has one of each geometry type, and at the end we check that a collada file was generated (and delete it).

src/systems/world_exporter/WorldExporter.hh

examples/worlds/world_exporter.sdf

azeey

This is awesome! I was able to generate a cave world and import it into blender. There is an issue related to transparency that I mention below that caused everything to be transparent, but otherwise, the world, with 524 submeshes loaded without a problem 🎉.

src/systems/world_exporter/CMakeLists.txt

src/systems/world_exporter/WorldExporter.cc

src/systems/world_exporter/CMakeLists.txt

src/systems/world_exporter/WorldExporter.cc

Signed-off-by: Louise Poubel <louise@openrobotics.org>

chapulina · 2020-12-23T01:15:40Z

ign-common 3.8.0 is out. Bumped the requirement in 9ff6f09.

codecov · 2020-12-23T02:09:48Z

Codecov Report

Merging #474 (7ea379d) into ign-gazebo4 (59ea1c6) will increase coverage by 0.06%.
The diff coverage is 79.04%.

@@               Coverage Diff               @@
##           ign-gazebo4     #474      +/-   ##
===============================================
+ Coverage        77.24%   77.31%   +0.06%     
===============================================
  Files              213      215       +2     
  Lines            11925    12029     +104     
===============================================
+ Hits              9212     9300      +88     
- Misses            2713     2729      +16

Impacted Files	Coverage Δ
...ems/collada_world_exporter/ColladaWorldExporter.cc	`78.64% <78.64%> (ø)`
src/ServerPrivate.cc	`83.79% <100.00%> (ø)`
...ems/collada_world_exporter/ColladaWorldExporter.hh	`100.00% <100.00%> (ø)`
src/SimulationRunner.cc	`92.92% <0.00%> (+1.11%)`	⬆️

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Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2021-01-21T22:28:32Z

@gonzodepedro , I believe all that is left is a test.

azeey

I left one more minor comment. Otherwise, with the addition of the test, I think this is ready to go.

src/systems/collada_world_exporter/ColladaWorldExporter.cc

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig · 2021-01-28T14:57:53Z

Test has been added in db69c56. I believe this completes this PR, pending CI.

chapulina

LGTM, I just have some minor comments that would be nice to address, but don't need to block the PR.

test/worlds/collada_world_exporter.sdf

tutorials/collada_world_exporter.md

test/integration/collada_world_exporter.cc

Signed-off-by: Nate Koenig <nate@openrobotics.org>

src/systems/collada_world_exporter/ColladaWorldExporter.cc

Signed-off-by: Nate Koenig <nate@openrobotics.org>

azeey

LGTM!

* Added world exporter Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Fixed CMake Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Changes based on review Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Added example world Signed-off-by: Nate Koenig <nate@openrobotics.org> * bump required ign-common version Signed-off-by: Louise Poubel <louise@openrobotics.org> * PR updates Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update documentation to have simulation self terminate Signed-off-by: Nate Koenig <nate@openrobotics.org> * Rename world_export to collada_world_exporter Signed-off-by: Nate Koenig <nate@openrobotics.org> * Finish world exporter renaming Signed-off-by: Nate Koenig <nate@openrobotics.org> * Revert change Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added a tutorial Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update transform Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added message Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added a test Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added more shapes Signed-off-by: Nate Koenig <nate@openrobotics.org> * Cleanup in two locations Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix build Signed-off-by: Nate Koenig <nate@openrobotics.org> * Apply scale, and fix codecheck Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>

Added world exporter

af4e0b8

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

gonzodepedro requested review from azeey and chapulina December 4, 2020 21:43

gonzodepedro self-assigned this Dec 4, 2020

github-actions bot added the 🔮 dome Ignition Dome label Dec 4, 2020

gonzodepedro changed the title ~~Added world exporter~~ World exporter Dec 4, 2020

Fixed CMake

6a576f4

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

chapulina reviewed Dec 4, 2020

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chapulina added the needs upstream release Blocked by a release of an upstream library label Dec 4, 2020

mjcarroll mentioned this pull request Dec 9, 2020

⬆️ 3.8.0 gazebosim/gz-common#137

Merged

Changes based on review

8edfdfd

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

gonzodepedro requested a review from chapulina December 10, 2020 21:43

chapulina and others added 2 commits December 17, 2020 17:57

Merge branch 'ign-gazebo4' into gonzodepedro/world_exporter

2d66ef8

Added example world

63c9eb7

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Merge branch 'ign-gazebo4' into gonzodepedro/world_exporter

ec9ce10

chapulina reviewed Dec 22, 2020

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azeey requested changes Dec 22, 2020

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bump required ign-common version

9ff6f09

Signed-off-by: Louise Poubel <louise@openrobotics.org>

chapulina removed the needs upstream release Blocked by a release of an upstream library label Dec 23, 2020

Merge branch 'ign-gazebo4' into gonzodepedro/world_exporter

5bad9b8

nkoenig mentioned this pull request Jan 20, 2021

Collada transparency is opposite. gazebosim/gz-common#152

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PR updates

29c0a44

Signed-off-by: Nate Koenig <nate@openrobotics.org>

azeey reviewed Jan 22, 2021

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nkoenig self-requested a review January 28, 2021 14:12

Nate Koenig added 3 commits January 28, 2021 06:17

Added message

073bc91

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Merge branch 'ign-gazebo4' into gonzodepedro/world_exporter

9921e82

Added a test

db69c56

Signed-off-by: Nate Koenig <nate@openrobotics.org>

nkoenig requested review from chapulina and azeey January 28, 2021 14:58

nkoenig approved these changes Jan 28, 2021

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chapulina approved these changes Jan 28, 2021

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Nate Koenig added 3 commits January 28, 2021 09:46

Added more shapes

b3c2566

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Cleanup in two locations

76219c8

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Fix build

7de643d

Signed-off-by: Nate Koenig <nate@openrobotics.org>

gonzodepedro commented Jan 28, 2021

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src/systems/collada_world_exporter/ColladaWorldExporter.cc Show resolved Hide resolved

Apply scale, and fix codecheck

e44a66e

Signed-off-by: Nate Koenig <nate@openrobotics.org>

azeey approved these changes Jan 28, 2021

View reviewed changes

Merge branch 'ign-gazebo4' into gonzodepedro/world_exporter

7ea379d

nkoenig merged commit f6a7329 into ign-gazebo4 Jan 29, 2021

nkoenig deleted the gonzodepedro/world_exporter branch January 29, 2021 18:15

chapulina mentioned this pull request Feb 26, 2021

Support save a world to collada #307

Closed

This was referenced Jun 4, 2021

add world 'dae export ready' option, bugfixes for alpha values open-rmf/rmf_traffic_editor#356

Closed

Add 'export world files ready for dae importing' cmake step, add utility to generate dae open-rmf/rmf_demos#53

Closed

ddengster mentioned this pull request Jun 24, 2021

Add baking pipeline, add baked office assets open-rmf/rmf_demos#58

Closed

iche033 mentioned this pull request Oct 22, 2021

Preparing for 5.2.0 release #1139

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World exporter #474

World exporter #474

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World exporter #474

World exporter #474

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