# -*- coding: utf-8 -*-
"""
Export Link infos to XML from Fusion 360
@syuntoku
@yanshil
"""
import adsk, re
from xml.etree.ElementTree import Element, SubElement
from ..utils import utils
class Link:
def __init__(self, name, xyz, center_of_mass, repo, mass, inertia_tensor):
"""
Parameters
----------
name: str
name of the link
xyz: [x, y, z]
coordinate for the visual and collision
center_of_mass: [x, y, z]
coordinate for the center of mass
link_xml: str
generated xml describing about the link
repo: str
the name of the repository to save the xml file
mass: float
mass of the link
inertia_tensor: [ixx, iyy, izz, ixy, iyz, ixz]
tensor of the inertia
"""
self.name = name
# xyz for visual
self.xyz = [-_ for _ in xyz] # reverse the sign of xyz
# xyz for center of mass
self.center_of_mass = center_of_mass
self.link_xml = None
self.repo = repo
self.mass = mass
self.inertia_tensor = inertia_tensor
def make_link_xml(self):
"""
Generate the link_xml and hold it by self.link_xml
"""
link = Element('link')
link.attrib = {'name':self.name}
#inertial
inertial = SubElement(link, 'inertial')
origin_i = SubElement(inertial, 'origin')
origin_i.attrib = {'xyz':' '.join([str(_) for _ in self.center_of_mass]), 'rpy':'0 0 0'}
mass = SubElement(inertial, 'mass')
mass.attrib = {'value':str(self.mass)}
inertia = SubElement(inertial, 'inertia')
inertia.attrib = \
{'ixx':str(self.inertia_tensor[0]), 'iyy':str(self.inertia_tensor[1]),\
'izz':str(self.inertia_tensor[2]), 'ixy':str(self.inertia_tensor[3]),\
'iyz':str(self.inertia_tensor[4]), 'ixz':str(self.inertia_tensor[5])}
# visual
visual = SubElement(link, 'visual')
origin_v = SubElement(visual, 'origin')
origin_v.attrib = {'xyz':' '.join([str(_) for _ in self.xyz]), 'rpy':'0 0 0'}
geometry_v = SubElement(visual, 'geometry')
mesh_v = SubElement(geometry_v, 'mesh')
mesh_v.attrib = {'filename': self.repo + self.name + '.stl','scale':'0.001 0.001 0.001'} ## scale = 0.001 means mm to m. Modify it according if using another unit
material = SubElement(visual, 'material')
material.attrib = {'name':'silver'}
# collision
collision = SubElement(link, 'collision')
origin_c = SubElement(collision, 'origin')
origin_c.attrib = {'xyz':' '.join([str(_) for _ in self.xyz]), 'rpy':'0 0 0'}
geometry_c = SubElement(collision, 'geometry')
mesh_c = SubElement(geometry_c, 'mesh')
mesh_c.attrib = {'filename': self.repo + self.name + '.stl','scale':'0.001 0.001 0.001'} ## scale = 0.001 means mm to m. Modify it according if using another unit
material = SubElement(visual, 'material')
# print("\n".join(utils.prettify(link).split("\n")[1:]))
self.link_xml = "\n".join(utils.prettify(link).split("\n")[1:])
def make_inertial_dict(root, msg):
"""
Parameters
----------
root: adsk.fusion.Design.cast(product)
Root component
msg: str
Tell the status
Returns
----------
inertial_dict: {name:{mass, inertia, center_of_mass}}
msg: str
Tell the status
"""
# Get component properties.
allOccs = root.occurrences
inertial_dict = {}
for occs in allOccs:
# Skip the root component.
occs_dict = {}
prop = occs.getPhysicalProperties(adsk.fusion.CalculationAccuracy.VeryHighCalculationAccuracy)
occs_dict['name'] = re.sub('[ :()]', '_', occs.name)
mass = prop.mass # kg
occs_dict['mass'] = mass
center_of_mass = [_/100.0 for _ in prop.centerOfMass.asArray()] ## cm to m
occs_dict['center_of_mass'] = center_of_mass
# https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-ce341ee6-4490-11e5-b25b-f8b156d7cd97
(_, xx, yy, zz, xy, yz, xz) = prop.getXYZMomentsOfInertia()
moment_inertia_world = [_ / 10000.0 for _ in [xx, yy, zz, xy, yz, xz] ] ## kg / cm^2 -> kg/m^2
occs_dict['inertia'] = utils.origin2center_of_mass(moment_inertia_world, center_of_mass, mass)
if 'base_link' in occs.component.name:
inertial_dict['base_link'] = occs_dict
else:
inertial_dict[re.sub('[ :()]', '_', occs.name)] = occs_dict
return inertial_dict, msg
# def make_inertial_dict(root, msg):
# """
# Parameters
# ----------
# root: adsk.fusion.Design.cast(product)
# Root component
# msg: str
# Tell the status
# Returns
# ----------
# inertial_dict: {name:{mass, inertia, center_of_mass}}
# msg: str
# Tell the status
# """
# # Get ALL component properties.
# allOccs = root.allOccurrences
# inertial_dict = {}
# for occs in allOccs:
# # Skip the root component.
# occs_dict = {}
# prop = occs.getPhysicalProperties(adsk.fusion.CalculationAccuracy.VeryHighCalculationAccuracy)
# mass = prop.mass # kg
# occs_dict['mass'] = mass
# center_of_mass = [_/100.0 for _ in prop.centerOfMass.asArray()] ## cm to m
# occs_dict['center_of_mass'] = center_of_mass
# # https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-ce341ee6-4490-11e5-b25b-f8b156d7cd97
# (_, xx, yy, zz, xy, yz, xz) = prop.getXYZMomentsOfInertia()
# moment_inertia_world = [_ / 10000.0 for _ in [xx, yy, zz, xy, yz, xz] ] ## kg / cm^2 -> kg/m^2
# occs_dict['inertia'] = utils.origin2center_of_mass(moment_inertia_world, center_of_mass, mass)
# # if occs.component.name == 'base_link':
# # occs_dict['name'] = 'base_link'
# # inertial_dict['base_link'] = occs_dict
# # # print("Processing Base Link")
# if 'base_link' in occs.component.name:
# inertial_dict['base_link'] = occs_dict
# else:
# # occs_dict['name'] = re.sub('[ :()]', '_', occs.name)
# key = utils.get_valid_filename(occs.fullPathName)
# occs_dict['name'] = key
# inertial_dict[key] = occs_dict
# # print("Exporting link {}".format(occs_dict['name']))
# return inertial_dict, msg