somewhat working URDF export with mesh. Orientation and scale seem to be broken.

Author: micahpearlman

Editor/CustomEditors/ZODocumentRootEditor.cs

@@ -50,14 +50,7 @@ public override void OnInspectorGUI() {
                 } else if (!System.IO.Directory.Exists(_URDFExportDirectory)) {
                     EditorUtility.DisplayDialog("URDF Export Error", "Export root folder must be defined and folder must exist.", "Ok");
                 } else {
-                    // documentRoot.ExportURDF(_URDFExportDirectory);
-                    ZOExportURDF exportURDF = new ZOExportURDF();
-                    XDocument urdfXML = exportURDF.BuildURDF(documentRoot);
-                    string urdfFilePath = Path.Combine(_URDFExportDirectory, $"{documentRoot.Name}.urdf");
-                    urdfXML.Save(urdfFilePath);
-
-                    Debug.Log($"INFO: ZOSimDocumentRoot Saved URDF: {urdfFilePath}");
-
+                    ZOExportURDF.ExportToDirectory(documentRoot, _URDFExportDirectory);
                 }
 
 

Runtime/Scripts/Util/ImportExport/ZOExportURDF.cs

@@ -52,6 +52,38 @@ public Vector3 ConnectedAnchor {
 
         }
 
+        private List<Transform> _visualMeshesToExport = new List<Transform>();
+        public List<Transform> VisualMeshesToExport {
+            get {return _visualMeshesToExport; }
+        } 
+
+        private List<Transform> _collisionMeshesToExport = new List<Transform>();
+        public List<Transform> CollisionMeshesToExport {
+            get { return _collisionMeshesToExport; }
+        }
+
+        public static void ExportToDirectory(ZOSimDocumentRoot documentRoot, string directoryPath) {
+            ZOExportURDF exportURDF = new ZOExportURDF();
+            XDocument urdfXML = exportURDF.BuildURDF(documentRoot);
+            string urdfFilePath = Path.Combine(directoryPath, $"{documentRoot.Name}.urdf");
+            urdfXML.Save(urdfFilePath);
+
+            // save out visual and collision meshes
+            foreach(Transform meshTransform in exportURDF.VisualMeshesToExport) {
+                ZOExportOBJ exportOBJ = new ZOExportOBJ();
+                exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, true);
+            }
+
+            foreach(Transform meshTransform in exportURDF.CollisionMeshesToExport) {
+                ZOExportOBJ exportOBJ = new ZOExportOBJ();
+                exportOBJ.ExportToDirectory(meshTransform.gameObject, directoryPath, true, true);
+            }
+
+            Debug.Log($"INFO: ZOExportURDF Saved URDF: {urdfFilePath}");
+
+        }
+
+
         /// <summary>
         /// Recursively build a URDF xml document given the base/root `ZOSimOccurrence`.
         /// Really should only be used by `ZODocumentRoot`.  See: `ZODocumentRoot.ExportURDF`.
@@ -246,8 +278,6 @@ protected void BuildURDFLink(ZOSimOccurrence simOccurrence, XElement robot, Vect
         }
 
 
-        private List<Transform> _visualMeshesToExport = new List<Transform>();
-        private List<Transform> _collisionMeshesToExport = new List<Transform>();
         protected void BuildURDFVisuals(Transform visualTransform, XElement link, Vector3 anchorOffset) {
             // build 3d primitive if exists
             MeshFilter meshFilter = visualTransform.GetComponent<MeshFilter>();