sdf -> usd: Added Visual and geometries

[ahcorde]

Signed-off-by: ahcorde [email protected]

🎉 New feature

Summary

This PR adds support for Visuals and Geometries

• Support for visuals and geometries
• Visual and Geometry tests
• Some minor improvements in doc and tests

Test it

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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.

[codecov-commenter]

Codecov Report

Merging #829 (0d483a7) into sdf12 (5a2b5df) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##            sdf12     #829   +/-   ##
=======================================
  Coverage   90.88%   90.88%           
=======================================
  Files          78       78           
  Lines       12635    12635           
=======================================
  Hits        11483    11483           
  Misses       1152     1152           

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[koonpeng]

I tried to convert the ur10 model, but it cannot find the mesh files

[Err] [SystemPaths.cc:377] Unable to find file with URI [model://ur10/meshes/base.dae]
[Err] [SystemPaths.cc:467] Could not resolve file [model://ur10/meshes/base.dae]
[Err] [MeshManager.cc:119] Invalid mesh filename extension[]

The sdf works in ign gazebo, so I'm guessing the search directory is different somehow.

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Managed to make it work by setting IGN_FILE_PATH instead of IGN_GAZEBO_RESOURCE_PATH. But I can't find any problems with the transformations

[adlarkin]

I tried to convert the ur10 model, but it cannot find the mesh files

Do you need to use this PR for material support? #831

[koonpeng]

Do you need to use this PR for material support? #831

I did not use the PR, but I don't think it is needed. I heard from @ahcorde that the transformations for ur10 downloaded from ignition fuel is wrong so I am trying to reproduce it.

[adlarkin]

I made a few updates in 379defd. Overall, LGTM once the questions I have below are addressed.

[ahcorde]

@scpeters or @azeey do you mind to review it ?

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1