sdf2usd: set cylinder refinement parameter (#34) (#38)

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. Signed-off-by: Steve Peters <[email protected]> (cherry picked from commit 0b699a6) Co-authored-by: Steve Peters <[email protected]>
gazebosim · Oct 3, 2024 · f22328c · f22328c
1 parent 71f2ebf
commit f22328c
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/src/sdf_parser/Geometry.cc b/src/sdf_parser/Geometry.cc
@@ -153,6 +153,19 @@ namespace usd
     extentBounds.push_back(endPoint);
     usdCylinder.CreateExtentAttr().Set(extentBounds);
 
+    // Set refinement level for cylinders so that the visual shapes will look
+    // rounder. It should be ignored for collision shapes.
+    auto enableRefinementAttr =
+        usdCylinder.GetPrim().CreateAttribute(
+            pxr::TfToken("refinementEnableOverride"),
+            pxr::SdfValueTypeNames->Bool, false);
+    enableRefinementAttr.Set(true);
+    auto refinementAttr =
+        usdCylinder.GetPrim().CreateAttribute(
+            pxr::TfToken("refinementLevel"),
+            pxr::SdfValueTypeNames->Int, false);
+    refinementAttr.Set(1);
+
     return errors;
   }