Fixed bugs and happy new year~

Author: nuofan

Add-IN/Fusion2Robot/.env renamed to Add-IN/ACDC4Robot/.env

@@ -0,0 +1,231 @@
+# -*- coding: utf-8 -*-
+# Author: nuofan
+"""
+Export robot description format files from Fusion360 design
+"""
+
+import adsk, adsk.core, adsk.fusion, traceback
+import os, sys
+from ...core.link import Link
+from ...core.joint import Joint
+from . import constants
+from ...core import write
+from ...core import utils
+
+def get_link_joint_list(design: adsk.fusion.Design):
+    """
+    Get the link list and joint list to export
+
+    Return:
+    link_list: [Link]
+        a list contains all the links that will be exported
+    joint_list: [Joint]
+        a list contains all the joint that will be exported
+    """
+    root = design.rootComponent
+    link_list = []
+    joint_list = []
+    occs: adsk.fusion.OccurrenceList = root.allOccurrences
+    
+    # try to solve the nested components problem
+    # but still not fully tested
+    for occ in occs:
+        # TODO: it seems use occ.joints.count will make it usable with occurrences? Test it
+        if occ.component.joints.count > 0:
+            # textPalette.writeText(str(occ.fullPathName))
+            continue
+        else:
+            # Only occurrence contains zero joint and has zero childOccurrences 
+            # can be seen as a link
+            if occ.childOccurrences.count > 0:
+                # textPalette.writeText(str(occ.fullPathName))
+                # textPalette.writeText(str(occ.childOccurrences.count))
+                continue
+            else:
+                # textPalette.writeText(str(occ.fullPathName))
+                # textPalette.writeText(str(occ.childOccurrences.count))
+                if occ.isLightBulbOn:
+                    # only the occurrence light bulb on that the occurrence will be exported
+                    link_list.append(Link(occ)) # add link objects into link_list
+
+    for joint in root.allJoints:
+        joint_list.append(Joint(joint)) # add joint objects into joint_list
+
+    return link_list, joint_list
+
+def export_stl(design: adsk.fusion.Design, save_dir: str, links: list[Link]):
+    """
+    export each component's stl file into "save_dir/mesh"
+
+    Parameters
+    ---------
+    design: adsk.fusion.Design
+        current active design
+    save_dir: str
+        the directory to store the export stl file
+    """
+    # create a single exportManager instance
+    export_manager = design.exportManager
+    # set the directory for the mesh file
+    try: os.mkdir(save_dir + "/meshes")
+    except: pass
+    mesh_dir = save_dir + "/meshes"
+
+    for link in links:
+        visual_body: adsk.fusion.BRepBody = link.get_visual_body()
+        col_body: adsk.fusion.BRepBody = link.get_collision_body()
+        if (visual_body is None) and (col_body is None):
+            # export the whole occurrence
+            mesh_name = mesh_dir + "/" + link.get_name()
+            occ = link.get_link_occ()
+            stl_export_options = export_manager.createSTLExportOptions(occ, mesh_name)
+            stl_export_options.sendToPrintUtility = False
+            stl_export_options.isBinaryFormat = True
+            stl_export_options.meshRefinement = adsk.fusion.MeshRefinementSettings.MeshRefinementLow
+            export_manager.execute(stl_export_options)
+        elif (visual_body is not None) and (col_body is not None):
+            # export visual and collision geometry seperately
+            visual_mesh_name = mesh_dir + "/" + link.get_name() + "_visual"
+            visual_exp_options = export_manager.createSTLExportOptions(visual_body, visual_mesh_name)
+            visual_exp_options.sendToPrintUtility = False
+            visual_exp_options.isBinaryFormat = True
+            visual_exp_options.meshRefinement = adsk.fusion.MeshRefinementSettings.MeshRefinementHigh
+            export_manager.execute(visual_exp_options)
+
+            col_mesh_name = mesh_dir + "/" + link.get_name() + "_collision"
+            col_exp_options = export_manager.createSTLExportOptions(col_body, col_mesh_name)
+            col_exp_options.sendToPrintUtility = False
+            col_exp_options.isBinaryFormat = True
+            col_exp_options.meshRefinement = adsk.fusion.MeshRefinementSettings.MeshRefinementLow
+            export_manager.execute(col_exp_options)
+
+        elif (visual_body is None) and (col_body is not None):
+            error_message = "Please set two bodies, one for visual and one for collision. \n"
+            error_message = error_message + "Body for visual missing."
+            utils.error_box(error_message)
+            utils.terminate_box()
+        elif (visual_body is not None) and (col_body is None):
+            error_message = "Please set two bodies, one for visual and one for collision. \n"
+            error_message = error_message + "Body for collision missing."
+            utils.error_box(error_message)
+            utils.terminate_box()
+
+
+def run():
+    # Initialization
+    app = adsk.core.Application.get()
+    ui = app.userInterface
+    product = app.activeProduct
+    design = adsk.fusion.Design.cast(product)
+
+    msg_box_title = "ACDC4Robot Message"
+    
+    # open a text palette for debuging
+    textPalette = ui.palettes.itemById("TextCommands")
+    if not textPalette.isVisible:
+        textPalette.isVisible = True
+    constants.set_text_palette(textPalette)
+
+    try:
+        # Set design type into do not capture design history
+        design.designType = adsk.fusion.DesignTypes.DirectDesignType
+
+        # Check the length unit of Fusion360
+        if design.unitsManager.defaultLengthUnits != "m":
+            ui.messageBox("Please set length unit to 'm'!", msg_box_title)
+            return 0 # exit run() function
+        
+        root = design.rootComponent # get root component
+        allComp = design.allComponents
+        robot_name = root.name.split()[0]
+        constants.set_robot_name(robot_name)
+        
+        # Set the folder to store exported files
+        folder_dialog = ui.createFolderDialog()
+        folder_dialog.title = "Chose your folder to export"
+        dialog_result = folder_dialog.showDialog() # show folder dialog
+        save_folder = ""
+        if dialog_result == adsk.core.DialogResults.DialogOK:
+            save_folder = folder_dialog.folder
+        else:
+            ui.messageBox("ACDC4Robot was canceled", msg_box_title)
+            return 0 # exit run() function
+        
+        save_folder = save_folder + "/" + robot_name
+        try: os.mkdir(save_folder)
+        except: pass
+
+        ui.messageBox("Start ACDC4Robot Add-IN", msg_box_title)
+
+        # get all the link & joint elements to export
+        link_list, joint_list = get_link_joint_list(design)
+
+        rdf = constants.get_rdf()
+        simulator = constants.get_sim_env()
+
+        if rdf == None:
+            ui.messageBox("Robot description format is None. \
+                          Please choose one robot description format", msg_box_title)
+        elif rdf == "URDF":
+            if simulator  == "None":
+                ui.messageBox("Simulation environment is None. \
+                              Please select a simulation environment.", msg_box_title)
+            elif simulator == "Gazebo":
+                # write to .urdf file
+                write.write_urdf(link_list, joint_list, save_folder, robot_name)
+                # export mesh files
+                export_stl(design, save_folder, link_list)
+                ui.messageBox("Finish exporting URDF for Gazebo.", msg_box_title)
+                
+            elif simulator == "PyBullet":
+                # write to .urdf file
+                write.write_urdf(link_list, joint_list, save_folder, robot_name)
+                # export mesh files
+                export_stl(design, save_folder, link_list)
+                # generate pybullet script
+                write.write_hello_pybullet(rdf, robot_name, save_folder)
+                ui.messageBox("Finish exporting URDF for PyBullet.", msg_box_title)
+
+        elif rdf == "SDFormat":
+            if simulator == "None":
+                ui.messageBox("Simulation environment is None. \
+                              Please select a simulation environment.", msg_box_title)
+            elif simulator == "Gazebo":
+                # write to .sdf file
+                write.write_sdf(link_list, joint_list, save_folder, robot_name)
+                # write a model cofig file
+                author = constants.get_author_name()
+                des = constants.get_model_description()
+                write.write_sdf_config(save_folder, robot_name, author, des)
+                # export stl files
+                export_stl(design, save_folder, link_list)
+                ui.messageBox("Finish exporting SDFormat for Gazebo.", msg_box_title)
+            elif simulator == "PyBullet":
+                # write to .sdf file
+                write.write_sdf(link_list, joint_list, save_folder, robot_name)
+                # export stl files
+                export_stl(design, save_folder, link_list)
+                # generate pybullet script
+                write.write_hello_pybullet(rdf,robot_name, save_folder)
+                ui.messageBox("Finish exporting SDFormat for PyBullet.", msg_box_title)
+
+        elif rdf == "MJCF":
+            if simulator == "None":
+                ui.messageBox("Simulation environment is None. \
+                              Please select a simulation environment.", msg_box_title)
+            elif simulator == "Gazebo":
+                ui.messageBox("Gazebo not support MJCF. \
+                              Please select MuJoCo for simulation.", msg_box_title)
+            elif simulator == "PyBullet":
+                ui.messageBox("PyBullet not support MJCF. \
+                              Please select MuJoCo for simulation.", msg_box_title)
+            elif simulator == "MuJoCo":
+                # write to .xml file
+                write.write_mjcf(root, robot_name, save_folder)
+                # export stl files
+                export_stl(design, save_folder, link_list)
+                ui.messageBox("Finish exporting MJCF for MuJoCo.", msg_box_title)
+        
+    except:
+        if ui:
+            ui.messageBox('Failed:\n{}'.format(traceback.format_exc()))

Add-IN/Fusion2Robot/Fusion2Robot.py renamed to Add-IN/ACDC4Robot/ACDC4Robot.py

@@ -2,14 +2,14 @@
 import os
 from ...lib import fusion360utils as futil
 from ... import config
-from . import fusion2Robot
+from . import acdc4robot
 from . import constants
 app = adsk.core.Application.get()
 ui = app.userInterface
 
 
 # TODO *** Specify the command identity information. ***
-CMD_ID = f'{config.COMPANY_NAME}_{config.ADDIN_NAME}_Fusion2Robot'
+CMD_ID = f'{config.COMPANY_NAME}_{config.ADDIN_NAME}_ACDC4Robot'
 CMD_NAME = 'Fusion to Robot'
 CMD_Description = 'Export Fusion360 design model to robot description format'
 
@@ -86,17 +86,19 @@ def command_created(args: adsk.core.CommandCreatedEventArgs):
     rdf_items.add("None", True)
     rdf_items.add("URDF", False)
     rdf_items.add("SDFormat", False)
+    rdf_items.add("MJCF", False)
 
     # create a drop down command input to choose simulation environment
     sim_env_input = inputs.addDropDownCommandInput("simulation_env", "Simulation Environment", adsk.core.DropDownStyles.LabeledIconDropDownStyle)
     sim_env_items = sim_env_input.listItems
     sim_env_items.add("None", True)
     sim_env_items.add("Gazebo", False)
     sim_env_items.add("PyBullet", False)
+    sim_env_items.add("MuJoCo", False)
     sim_env_input.isVisible = False
 
     # create string value input for sdf info
-    sdf_author_input = inputs.addStringValueInput("SDF_Author_name", "Author Name", "Fusion2Robot")
+    sdf_author_input = inputs.addStringValueInput("SDF_Author_name", "Author Name", "ACDC4Robot")
     sdf_author_input.isVisible = False
     sdf_description_input = inputs.addTextBoxCommandInput("SDF_Description", "Description", "Description about the robot model", 3, False)
     sdf_description_input.isVisible = False
@@ -139,7 +141,7 @@ def command_execute(args: adsk.core.CommandEventArgs):
     constants.set_author_name(name_input.value)
     constants.set_model_description(text_input.text)
 
-    fusion2Robot.run()
+    acdc4robot.run()
     # TODO ******************************** Your code here ********************************
 
     # Get a reference to your command's inputs.
@@ -169,6 +171,7 @@ def command_input_changed(args: adsk.core.InputChangedEventArgs):
     inputs = command.commandInputs
     rdf: adsk.core.DropDownCommandInput = inputs.itemById("robot_description_format")
     sim_env: adsk.core.DropDownCommandInput = inputs.itemById("simulation_env")
+    sim_env_items = sim_env.listItems
     sdf_author = inputs.itemById("SDF_Author_name")
     sdf_description = inputs.itemById("SDF_Description")
     # inputs = args.inputs
@@ -182,6 +185,9 @@ def command_input_changed(args: adsk.core.InputChangedEventArgs):
 
         elif changed_input.selectedItem.name == "SDFormat":
             sim_env.isVisible = True
+        
+        elif changed_input.selectedItem.name == "MJCF":
+            sim_env.isVisible = True
 
 
     if (rdf.selectedItem.name == "SDFormat") and (sim_env.selectedItem.name == "Gazebo"):

Add-IN/Fusion2Robot/commands/Fusion2Robot/__init__.py renamed to Add-IN/ACDC4Robot/commands/ACDC4Robot/__init__.py

@@ -3,7 +3,7 @@
 # TODO Import the modules corresponding to the commands you created.
 # If you want to add an additional command, duplicate one of the existing directories and import it here.
 # You need to use aliases (import "entry" as "my_module") assuming you have the default module named "entry".
-from .Fusion2Robot import entry as RDF
+from .ACDC4Robot import entry as RDF
 # from .ImportRobot import entry as Model
 
 # TODO add your imported modules to this list.
@@ -25,4 +25,4 @@ def start():
 # The stop function will be run when the add-in is stopped.
 def stop():
     for command in commands:
-        command.stop()
+        command.stop()