scpeters commented 1 month ago

🦟 Bug fix

Summary

The refinement parameter is 0 by default when loaded in Isaac Sim, which makes cylinders look like extruded polygons. Setting the refinement parameter to 1 makes them rounder.

Thanks to @rgasoto for the assistance with the OpenUSD API.

Example with unrefined cylinders

Note the polygonal shape of the pendulum bases

cylinders_refinement_0

Example with refinement == 1

Note the rounder shape of the pendulum bases

cylinders_refinement_1

Checklist

[X] Signed all commits for DCO
[ ] Added tests
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] codecheck passed (See contributing)
[ ] All tests passed (See test coverage)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

ahcorde commented 1 month ago

https://github.com/Mergifyio backport fortress garden

mergify[bot] commented 1 month ago

backport fortress garden

✅ Backports have been created

* [#38 sdf2usd: set cylinder refinement parameter (backport #34)](https://github.com/gazebosim/gz-usd/pull/38) has been created for branch `fortress` * [#39 sdf2usd: set cylinder refinement parameter (backport #34)](https://github.com/gazebosim/gz-usd/pull/39) has been created for branch `garden`

gazebosim / gz-usd

sdf2usd: set cylinder refinement parameter #34