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Convert links and joints to USD (#25)
Converts the robot structure (links and joints) and physical properties, but not the meshes/materials Also implemented a planar joint define function. We may want to contibute this back to usd-exchange at some point. URDF transmission elements are now considered undefined as the XML for them schema is unstable/unsupported.
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‎pyproject.toml‎

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@@ -7,7 +7,7 @@ license = {text = "Apache-2.0"}
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readme = "README.md"
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requires-python = ">=3.10,<3.13"
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dependencies = [
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"usd-exchange>=2.1.0a3", # locked to USD 25.05
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"usd-exchange>=2.2.0a1", # locked to USD 25.05
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"numpy-stl>=3.2",
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"tinyobjloader>=2.0.0rc13",
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]

‎tests/data/assets/box.stl‎

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‎tests/data/change_joint_order.urdf‎

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<?xml version="1.0"?>
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<robot name="change_joint_order">
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<link name="link_box">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.5"/>
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</geometry>
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</visual>
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</link>
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<link name="link_box2">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.5"/>
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</geometry>
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</visual>
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</link>
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<link name="link_box3">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.5"/>
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</geometry>
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</visual>
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</link>
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<joint name="joint_box" type="fixed">
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<origin rpy="0 0 0" xyz="1 0 0"/>
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<parent link="link_box2"/>
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<child link="link_box3"/>
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</joint>
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<!-- Change the joint order to verify root joint detection. -->
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<joint name="joint_root" type="fixed">
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<origin rpy="0 0 0" xyz="1 0 0"/>
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<parent link="link_box"/>
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<child link="link_box2"/>
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</joint>
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</robot>

‎tests/data/error_convert_loop_joint_structure.urdf‎

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<?xml version="1.0"?>
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<robot name="error_convert_loop_joint_structure">
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<link name="link1">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.5"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.5"/>
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</geometry>
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</visual>
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</link>
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<link name="link3">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.5"/>
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</geometry>
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</visual>
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</link>
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<joint name="joint_1" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="link1"/>
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<child link="link2"/>
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</joint>
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<joint name="joint_2" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="link2"/>
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<child link="link3"/>
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</joint>
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<!-- This is a loop joint structure. -->
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<!-- In this case, an error will occur when converting from URDF to USD. -->
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<joint name="joint_3" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="link3"/>
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<child link="link1"/>
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</joint>
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</robot>

‎tests/data/error_duplicate_transmission_names.urdf‎

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This file was deleted.

‎tests/data/error_joint_axis_0.urdf‎

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<robot name="joint_axis_0">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="-2 0 0.5"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
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<geometry>
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<box size="0.5 0.5 0.5"/>
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</geometry>
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</visual>
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</link>
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<!-- This is a deliberate mistake. -->
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<!-- The axis xyz is (0, 0, 0). -->
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<joint name="JointA" type="revolute">
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<parent link="BaseLink"/>
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<child link="link2" />
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<axis xyz="0 0 0"/>
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<limit lower="-20" upper="20"/>
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</joint>
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</robot>

‎tests/data/error_no_urdf_xml.urdf‎

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<?xml verison="1.0"?>
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<?xml version="1.0"?>
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<test name="test">
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<info name="item1">
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<color rgb="0.0 1.0 0.0"/>

‎tests/data/fixed_continuous_joints.urdf‎

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<?xml version="1.0"?>
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<robot name="fixed_continuous_joints">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="0.0 0 0"/>
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<geometry>
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<box size="0.2 0.2 0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="Arm_1">
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<visual>
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<origin rpy="0 0 0" xyz="0.55 0 0"/>
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<geometry>
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<box size="1.0 0.2 0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="Arm_2">
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<visual>
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<origin rpy="0 1.570 0" xyz="0.15 0 0"/>
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<geometry>
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<box size="1.0 0.2 0.2"/>
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</geometry>
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</visual>
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</link>
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<joint name="joint_root" type="fixed">
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<origin rpy="0 0 0" xyz="0.15 0 0.0"/>
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<parent link="BaseLink"/>
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<child link="Arm_1"/>
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</joint>
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<joint name="joint_arm_1" type="continuous">
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<origin rpy="0 0 0" xyz="1.1 0 0.0"/>
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<parent link="Arm_1"/>
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<child link="Arm_2"/>
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<axis xyz="1 0 0"/>
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</joint>
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</robot>

‎tests/data/fixed_floating_joints.urdf‎

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<?xml version="1.0"?>
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<robot name="fixed_floating_joints">
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<link name="BaseLink">
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<visual>
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<origin rpy="0 0 0" xyz="0.0 0 0"/>
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<geometry>
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<box size="0.2 0.2 0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="Arm_1">
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<visual>
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<origin rpy="0 0 0" xyz="0.55 0 0"/>
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<geometry>
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<box size="1.0 0.2 0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="Arm_2">
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<visual>
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<origin rpy="0 0 0" xyz="0.55 0 0"/>
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<geometry>
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<box size="1.0 0.2 0.2"/>
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</geometry>
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</visual>
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</link>
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<joint name="joint_root" type="fixed">
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<origin rpy="0 0 0" xyz="0.15 0 0.0"/>
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<parent link="BaseLink"/>
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<child link="Arm_1"/>
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</joint>
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<joint name="joint_arm_1" type="floating">
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<origin rpy="0 0 0" xyz="1.1 0 0.0"/>
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<parent link="Arm_1"/>
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<child link="Arm_2"/>
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</joint>
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</robot>

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