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Enabled to export mesh as 3dxml format #154

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merged 6 commits into from
Oct 17, 2024
Merged

Enabled to export mesh as 3dxml format #154

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d75d78e
Enabled to export mesh as 3dxml format
KenMat765 Apr 26, 2024
21121fe
Defined enum MeshExportFormat and changed branching of mesh output fo…
KenMat765 May 7, 2024
5840bde
Added a section of converting 3dxml to dae in README
KenMat765 May 7, 2024
aaca229
Fixed Bug: Error occurs when the coords of the links were inside suba…
KenMat765 Jun 11, 2024
4efb151
Added unit test for 3dxml export
KenMat765 Oct 17, 2024
fdd05c1
Modified comments in ExportHelper.cs
KenMat765 Oct 17, 2024
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9 changes: 9 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,15 @@ See the [ROS Wiki](http://wiki.ros.org/sw_urdf_exporter) and associated [tutoria
1. Ensure `Configuration:` is set to `Debug`
1. Ensure `Start external program:` is pointing to the SolidWorks executable. For example `C:\Program Files\SOLIDWORKS Corp\SOLIDWORKS\SLDWORKS.exe`

## Converting mesh format from 3dxml to dae

Executing the following command will convert the format of the exported mesh from 3DXML to DAE, and rewrite the URDF, allowing you to display colored meshes in visualization tools like RViz:

```bash
pip3 install scikit-robot -U
convert-urdf-mesh <URDF_PATH> --output <OUTPUT_URDF_PATH>
```

### Trouble Shooting

1. `AxImp.exe` error - Check the installation of the .Net Tools. If there is no error, install the Windows 10 SDK.
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13 changes: 8 additions & 5 deletions SW2URDF/Test/TestExportHelper.cs
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Expand Up @@ -14,10 +14,13 @@ public TestExportHelper(SWTestFixture fixture) : base(fixture)
}

[Theory]
[InlineData("3_DOF_ARM", 4)]
[InlineData("4_WHEELER", 5)]
[InlineData("ORIGINAL_3_DOF_ARM", 4)]
public void TestExportRobot(string modelName, int expNumLinks)
[InlineData("3_DOF_ARM", 4, MeshExportFormat.STL)]
[InlineData("4_WHEELER", 5, MeshExportFormat.STL)]
[InlineData("ORIGINAL_3_DOF_ARM", 4, MeshExportFormat.STL)]
[InlineData("3_DOF_ARM", 4, MeshExportFormat.THREEDXML)]
[InlineData("4_WHEELER", 5, MeshExportFormat.THREEDXML)]
[InlineData("ORIGINAL_3_DOF_ARM", 4, MeshExportFormat.THREEDXML)]
public void TestExportRobot(string modelName, int expNumLinks, MeshExportFormat meshExportFormat)
{
ModelDoc2 doc = OpenSWDocument(modelName);
ExportHelper helper = new ExportHelper(SwApp);
Expand All @@ -28,7 +31,7 @@ public void TestExportRobot(string modelName, int expNumLinks)
LinkNode baseNode = ConfigurationSerialization.LoadBaseNodeFromModel(doc, out bool error);
Assert.False(error);
helper.CreateRobotFromTreeView(baseNode);
helper.ExportRobot(true);
helper.ExportRobot(true, meshExportFormat);
Assert.NotNull(helper.URDFRobot);
Assert.Equal(expNumLinks, CommonSwOperations.GetCount(helper.URDFRobot.BaseLink));
Assert.True(SwApp.CloseAllDocuments(true));
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