Enhancement: Proper Handling of Component Occurrences in URDF Export

.gitignore

@@ -1,2 +1,3 @@
 .DS_Store
-.vscode
+.vscode
+Add-IN/ACDC4Robot/.env

Add-IN/ACDC4Robot/commands/ACDC4Robot/acdc4robot.py

@@ -56,7 +56,7 @@ def get_link_joint_list(design: adsk.fusion.Design):
 
     return link_list, joint_list
 
-def export_stl(design: adsk.fusion.Design, save_dir: str, links: list[Link]):
+def export_stl(design: adsk.fusion.Design, save_dir: str, links: list[Link], rdf: str):
     """
     export each component's stl file into "save_dir/mesh"
 
@@ -66,6 +66,8 @@ def export_stl(design: adsk.fusion.Design, save_dir: str, links: list[Link]):
         current active design
     save_dir: str
         the directory to store the export stl file
+    rdf: str
+        robot description format
     """
     # create a single exportManager instance
     export_manager = design.exportManager
@@ -77,9 +79,14 @@ def export_stl(design: adsk.fusion.Design, save_dir: str, links: list[Link]):
     for link in links:
         visual_body: adsk.fusion.BRepBody = link.get_visual_body()
         col_body: adsk.fusion.BRepBody = link.get_collision_body()
+        if rdf == "URDF":
+            mesh_name = mesh_dir + "/" + link.link.component.name
+        else :
+            mesh_name = mesh_dir + "/" + link.get_name()
         if (visual_body is None) and (col_body is None):
             # export the whole occurrence
-            mesh_name = mesh_dir + "/" + link.get_name()
+            if os.path.isfile(mesh_name) :
+                    continue
             occ = link.get_link_occ()
             # obj_export_options = export_manager.createOBJExportOptions(occ, mesh_name)
             # obj_export_options.unitType = adsk.fusion.DistanceUnits.MillimeterDistanceUnits # set unit to mm
@@ -92,14 +99,18 @@ def export_stl(design: adsk.fusion.Design, save_dir: str, links: list[Link]):
             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_mesh_name = mesh_name + "_visual"
+            if os.path.isfile(visual_mesh_name) :
+                continue
             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.MeshRefinementLow
             export_manager.execute(visual_exp_options)
 
-            col_mesh_name = mesh_dir + "/" + link.get_name() + "_collision"
+            col_mesh_name = mesh_name + "_collision"
+            if os.path.isfile(col_mesh_name) :
+                continue
             col_exp_options = export_manager.createSTLExportOptions(col_body, col_mesh_name)
             col_exp_options.sendToPrintUtility = False
             col_exp_options.isBinaryFormat = True
@@ -181,14 +192,14 @@ def run():
                 # 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)
+                export_stl(design, save_folder, link_list, rdf)
                 ui.messageBox("Finished 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)
+                export_stl(design, save_folder, link_list, rdf)
                 # generate pybullet script
                 write.write_hello_pybullet(rdf, robot_name, save_folder)
                 ui.messageBox("Finished exporting URDF for PyBullet.", msg_box_title)
@@ -197,7 +208,7 @@ def run():
                 # 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)
+                export_stl(design, save_folder, link_list, rdf)
 
                 ui.messageBox("Finished exporting URDF for MuJoCo.", msg_box_title)
 
@@ -213,13 +224,13 @@ def run():
                 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)
+                export_stl(design, save_folder, link_list, rdf)
                 ui.messageBox("Finished 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)
+                export_stl(design, save_folder, link_list, rdf)
                 # generate pybullet script
                 write.write_hello_pybullet(rdf,robot_name, save_folder)
                 ui.messageBox("Finished exporting SDFormat for PyBullet.", msg_box_title)
@@ -242,7 +253,7 @@ def run():
                 # write to .xml file
                 write.write_mjcf(root, robot_name, save_folder)
                 # export stl files
-                export_stl(design, save_folder, link_list)
+                export_stl(design, save_folder, link_list, rdf)
                 time.sleep(0.1)
                 ui.messageBox("Finished exporting MJCF for MuJoCo.", msg_box_title)
 

Add-IN/ACDC4Robot/core/joint.py

@@ -181,20 +181,14 @@ def get_joint_frame(self) -> adsk.core.Matrix3D:
             a homogeneous matrix represents joint frame J in world frame W
             translation unit: cm
         """
-        # get parent joint origin's coordinate w.r.t world frame
-        if self.joint.geometryOrOriginTwo == adsk.fusion.JointOrigin:
-            w_P_J = self.joint.geometryOrOriginTwo.geometry.origin.asArray()
-        else:
-            w_P_J = self.joint.geometryOrOriginTwo.origin.asArray()
+        geometry_two_transform = self.joint.geometryTwoTransform
+        matrix_array = geometry_two_transform.asArray()
 
-        w_P_J = [round(i, 6) for i in w_P_J]
-
-        # no matter jointGeometry or jointOrigin object, both have these properties
-        zAxis: adsk.core.Vector3D = self.joint.geometryOrOriginTwo.primaryAxisVector
-        xAxis: adsk.core.Vector3D = self.joint.geometryOrOriginTwo.secondaryAxisVector
-        yAxis: adsk.core.Vector3D = self.joint.geometryOrOriginTwo.thirdAxisVector
+        origin = adsk.core.Point3D.create(matrix_array[3], matrix_array[7], matrix_array[11])
 
-        origin = adsk.core.Point3D.create(w_P_J[0], w_P_J[1], w_P_J[2])
+        xAxis = adsk.core.Vector3D.create(matrix_array[0], matrix_array[1], matrix_array[2])
+        yAxis = adsk.core.Vector3D.create(matrix_array[4], matrix_array[5], matrix_array[6])
+        zAxis = adsk.core.Vector3D.create(matrix_array[8], matrix_array[9], matrix_array[10])
 
         joint_frame = adsk.core.Matrix3D.create()
         joint_frame.setWithCoordinateSystem(origin, xAxis, yAxis, zAxis)

Add-IN/ACDC4Robot/core/urdf.py

@@ -710,19 +710,19 @@ def get_link_visual_geo(link: Link) -> str:
     col_body = link.get_collision_body()
     if (visual_body is None) and (col_body is None):
         # visual and collision geometry is same
-        mesh_loc = "meshes/" + link.get_name() + ".stl"
+        mesh_loc = "meshes/" + link.link.component.name + ".stl"
         return mesh_loc
     elif (visual_body is not None) and (col_body is not None):
-        mesh_loc = "meshes/" + link.get_name() + "_visual.stl"
+        mesh_loc = "meshes/" + link.link.component.name + "_visual.stl"
         return mesh_loc
     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 + link.get_name() + " body for visual missing."
+        error_message = error_message + link.link.component.name + " 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 + link.get_name() + " body for collision missing."
+        error_message = error_message + link.link.component.name + " body for collision missing."
         utils.error_box(error_message)
         utils.terminate_box()
 
@@ -737,19 +737,19 @@ def get_link_collision_geo(link: Link) -> str:
     visual_body = link.get_visual_body()
     col_body = link.get_collision_body()
     if (visual_body is None) and (col_body is None):
-        mesh_loc = "meshes/" + link.get_name() + ".stl"
+        mesh_loc = "meshes/" + link.link.component.name + ".stl"
         return mesh_loc
     elif (visual_body is not None) and (col_body is not None):
-        mesh_loc = "meshes/" + link.get_name() + "_collision.stl"
+        mesh_loc = "meshes/" + link.link.component.name + "_collision.stl"
         return mesh_loc
     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 + link.get_name() + " body for visual missing."
+        error_message = error_message + link.link.component.name + " 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 + link.get_name() + " body for collision missing."
+        error_message = error_message + link.link.component.name + " body for collision missing."
         utils.error_box(error_message)
         utils.terminate_box()
 

Add-IN/ACDC4Robot/core/utils.py

@@ -15,10 +15,12 @@ def get_valid_filename(s):
     >>> get_valid_filename("john's portrait in 2004.jpg")
     'johns_portrait_in_2004.jpg'
     """
-    # Replace the number `:#+` by `-`
-    s = re.sub(r':.*?\+', '_', s)
-    # Remove the number at the end of the full path name
-    s = re.sub(r':.*$', '', s)
+
+    # Several body for the composant so keep the number id 
+    # Replace `:` by `-`
+    s = re.sub(r':', '-', s) 
+    # Replace `+` by `_`
+    s = re.sub(r'\+', '_', s)  
 
     s = str(s).strip().replace(' ', '-')
     return re.sub(r'(?u)[^-\w.]', '', s)