Minor fixes to URDF components.

onshape_api/parse.py

@@ -86,7 +86,7 @@ async def traverse_instances_async(
 
 
 def get_instances(
-    assembly: Assembly, max_depth: int = 5
+    assembly: Assembly, max_depth: int = 0
 ) -> tuple[dict[str, Union[PartInstance, AssemblyInstance]], dict[str, Occurrence], dict[str, str]]:
     """
     Optimized synchronous wrapper for `get_instances`.
@@ -109,7 +109,7 @@ def get_instances(
 
 
 def get_instances_sync(
-    assembly: Assembly, max_depth: int = 5
+    assembly: Assembly, max_depth: int = 0
 ) -> tuple[dict[str, Union[PartInstance, AssemblyInstance]], dict[str, Occurrence], dict[str, str]]:
     """
     Get instances and their sanitized names from an Onshape assembly.
@@ -188,7 +188,7 @@ def traverse_instances(
     return instance_map, occurrence_map, id_to_name_map
 
 
-def get_occurrences(assembly: Assembly, id_to_name_map: dict[str, str], max_depth: int = 5) -> dict[str, Occurrence]:
+def get_occurrences(assembly: Assembly, id_to_name_map: dict[str, str], max_depth: int = 0) -> dict[str, Occurrence]:
     """
     Optimized occurrences fetching using comprehensions.
     """

onshape_api/robot.py

@@ -182,7 +182,7 @@ def get_robot(
     robot_name: str,
     url: str,
     env: str = "./.env",
-    max_traversal_depth: int = 5,
+    max_traversal_depth: int = 0,
     use_user_defined_root: bool = False,
     save_assembly_as_json: bool = False,
     robot_type: RobotType = RobotType.URDF,

onshape_api/urdf.py

@@ -44,7 +44,7 @@
     VisualLink,
 )
 from onshape_api.parse import CHILD, MATE_JOINER, PARENT, RELATION_PARENT
-from onshape_api.utilities.helpers import get_sanitized_name, make_unique_keys
+from onshape_api.utilities.helpers import get_sanitized_name, make_unique_keys, make_unique_name
 
 SCRIPT_DIR = os.path.dirname(__file__)
 
@@ -254,10 +254,10 @@ def get_robot_joint(
 
     elif mate.mateType == MateType.BALL:
         dummy_x = Link(
-            name=f"{parent}-{mate.name}-x",
+            name=f"{parent}-{get_sanitized_name(mate.name)}-x",
         )
         dummy_y = Link(
-            name=f"{parent}-{mate.name}-y",
+            name=f"{parent}-{get_sanitized_name(mate.name)}-y",
         )
 
         links = [dummy_x, dummy_y]
@@ -413,6 +413,8 @@ def get_urdf_components(
     joints_map = {}
     assets_map = {}
 
+    parts_traversed_map: dict[str, str] = {}
+
     topological_mates, topological_relations = get_topological_mates(graph, mates, relations)
 
     stl_to_link_tf_map = {}
@@ -424,7 +426,7 @@ def get_urdf_components(
     )
 
     links.append(root_link)
-
+    parts_traversed_map[root_node] = parts[root_node].uid
     assets_map[root_node] = _asset
     stl_to_link_tf_map[root_node] = stl_to_root_tf
 
@@ -435,17 +437,11 @@ def get_urdf_components(
         parent, child = edge
         mate_key = f"{parent}{MATE_JOINER}{child}"
         LOGGER.info(f"Processing edge: {parent} -> {child}")
-
-        try:
-            parent_tf = stl_to_link_tf_map[parent]
-        except KeyError:
-            LOGGER.warning(f"Parent {parent} not found in stl_to_link_tf_map")
-            LOGGER.info(f"stl_to_link_tf_map keys: {stl_to_link_tf_map.keys()}")
-            exit(1)
+        parent_tf = stl_to_link_tf_map[parent]
 
         if parent not in parts or child not in parts:
             LOGGER.warning(f"Part {parent} or {child} not found in parts")
-            # remove the edge from the graph
+            # remove the edge from the graph?
             continue
 
         relation = topological_relations.get(topological_mates[mate_key].id)
@@ -484,9 +480,23 @@ def get_urdf_components(
             client,
             topological_mates[mate_key],
         )
+
         stl_to_link_tf_map[child] = stl_to_link_tf
         assets_map[child] = asset
-        links.append(link)
+
+        if child not in parts_traversed_map:
+            links.append(link)
+            parts_traversed_map[child] = parts[child].uid
+        elif child in parts_traversed_map and parts_traversed_map[child] != parts[child].uid:
+            LOGGER.warning(f"Part shares the same name but different UID: {child}")
+            LOGGER.info("Still adding the link with modified unique name.")
+            unique_name = make_unique_name(link.name, set(parts_traversed_map))
+            parts_traversed_map[unique_name] = parts[child].uid
+            link.name = unique_name
+            links.append(link)
+        else:
+            LOGGER.warning(f"Part {child} already traversed. Skipping.")
+            continue
 
     unique_joint_key_map = make_unique_keys([joint.name for joint in joints])
     unique_link_key_map = make_unique_keys([link.name for link in links])

onshape_api/utilities/helpers.py

@@ -14,6 +14,7 @@
 import json
 import os
 import random
+import re
 from xml.sax.saxutils import escape
 
 import matplotlib.animation as animation
@@ -238,10 +239,38 @@ def make_unique_keys(keys: list[str]) -> dict[str, int]:
     return unique_key_map
 
 
+def make_unique_name(name: str, existing_names: set[str]) -> str:
+    """
+    Make a name unique by appending a number to the name if it already exists in a set.
+
+    Args:
+        name: Name to make unique.
+        existing_names: Set of existing names.
+
+    Returns:
+        A unique name.
+
+    Examples:
+        >>> make_unique_name("name", {"name"})
+        "name-1"
+        >>> make_unique_name("name", {"name", "name-1"})
+        "name-2"
+    """
+    if name not in existing_names:
+        return name
+
+    count = 1
+    while f"{name}-{count}" in existing_names:
+        count += 1
+
+    return f"{name}-{count}"
+
+
 def get_sanitized_name(name: str, replace_with: str = "-") -> str:
     """
     Sanitize a name by removing special characters, preserving "-" and "_", and
-    replacing spaces with a specified character.
+    replacing spaces with a specified character. Ensures no consecutive replacement
+    characters in the result.
 
     Args:
         name: Name to sanitize
@@ -253,15 +282,22 @@ def get_sanitized_name(name: str, replace_with: str = "-") -> str:
     Examples:
         >>> get_sanitized_name("wheel1 <3>", '-')
         "wheel1-3"
-        >>> get_sanitized_name("Hello World!", '_')
+        >>> get_sanitized_name("Hello  World!", '_')
         "Hello_World"
+        >>> get_sanitized_name("my--robot!!", '-')
+        "my-robot"
+        >>> get_sanitized_name("bad__name__", '_')
+        "bad_name"
     """
 
     if replace_with not in "-_":
         raise ValueError("replace_with must be either '-' or '_'")
 
     sanitized_name = "".join(char if char.isalnum() or char in "-_ " else "" for char in name)
-    return sanitized_name.replace(" ", replace_with)
+    sanitized_name = sanitized_name.replace(" ", replace_with)
+    sanitized_name = re.sub(f"{re.escape(replace_with)}{{2,}}", replace_with, sanitized_name)
+
+    return sanitized_name
 
 
 def show_video(frames, framerate=60):