Merge pull request #44 from LouRohanNV/fixAssetPath

Fix the stage path from convert() when layer_structure=False

Author: andrewkaufman

tests/testConverter.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 import pathlib
 import shutil
@@ -153,3 +153,16 @@ def test_ros_packages(self):
 
         # Check material texture.
         # TODO: Here we need to make sure that the reference to the usd file is correct after the texture is loaded.
+
+    def test_asset_identifer(self):
+        model = pathlib.Path("tests/data/prismatic_joints.urdf")
+        model_name = model.stem
+        output_dir = pathlib.Path(self.tmpDir()) / model_name
+        usdc_path = output_dir / f"{model_name}.usdc"
+
+        asset_identifier = urdf_usd_converter.Converter(layer_structure=False).convert(model, output_dir)
+        self.assertTrue(usdc_path.exists())
+
+        # check that the asset identifier returned from convert() is the same as the usdc path
+        flattened_usdc_path = pathlib.Path(asset_identifier.path).absolute().as_posix()
+        self.assertEqual(flattened_usdc_path, usdc_path.absolute().as_posix())

urdf_usd_converter/_impl/_flatten.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 import pathlib
 import shutil
@@ -11,7 +11,7 @@
 from .utils import get_authoring_metadata
 
 
-def export_flattened(asset_stage: Usd.Stage, output_dir: str, asset_dir: str, asset_stem: str, asset_format: str, comment: str):
+def export_flattened(asset_stage: Usd.Stage, output_dir: str, asset_dir: str, asset_stem: str, asset_format: str, comment: str) -> str:
     output_path = pathlib.Path(output_dir)
     layer: Sdf.Layer = asset_stage.Flatten()
     asset_identifier = f"{output_path.absolute().as_posix()}/{asset_stem}.{asset_format}"
@@ -40,3 +40,4 @@ def export_flattened(asset_stage: Usd.Stage, output_dir: str, asset_dir: str, as
         Tf.Status(f"Copied textures from {temp_textures_dir} to {output_textures_dir}")
 
     shutil.rmtree(asset_dir, ignore_errors=True)
+    return asset_identifier

urdf_usd_converter/_impl/convert.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 The Newton Developers
 # SPDX-License-Identifier: Apache-2.0
 import pathlib
 import tempfile
@@ -145,7 +145,7 @@ def convert(self, input_file: str, output_dir: str) -> Sdf.AssetPath:
 
         # optionally flatten the asset
         if not self.params.layer_structure:
-            export_flattened(asset_stage, output_dir, asset_dir, asset_stem, asset_format, self.params.comment)
+            asset_identifier = export_flattened(asset_stage, output_dir, asset_dir, asset_stem, asset_format, self.params.comment)
         else:
             usdex.core.saveStage(asset_stage, comment=self.params.comment)