mirror of
https://github.com/PotentiaRobotics/Fusion2PyBullet-Redux.git
synced 2025-04-09 23:00:18 -04:00
99 lines
3.0 KiB
Python
99 lines
3.0 KiB
Python
# -*- coding: utf-8 -*-
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"""
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Export PyBullet adaptive stl and URDF file
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@syuntoku
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@yanshil
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"""
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import adsk, adsk.core, adsk.fusion, traceback
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import os
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from .utils import utils
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from .core import Link, Joint, Write
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"""
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# length unit is 'cm' and inertial unit is 'kg/cm^2'
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# If there is no 'body' in the root component, maybe the corrdinates are wrong.
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"""
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# joint effort: 100
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# joint velocity: 100
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# supports "Revolute", "Rigid" and "Slider" joint types
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# I'm not sure how prismatic joint acts if there is no limit in fusion model
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def run(context):
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ui = None
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success_msg = 'Successfully create URDF file'
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msg = success_msg
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try:
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# --------------------
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# initialize
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app = adsk.core.Application.get()
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ui = app.userInterface
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product = app.activeProduct
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design = adsk.fusion.Design.cast(product)
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title = 'Fusion2URDF'
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if not design:
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ui.messageBox('No active Fusion design', title)
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return
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root = design.rootComponent # root component
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components = design.allComponents
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# set the names
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package_name = 'fusion2urdf'
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robot_name = root.name.split()[0].lower()
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save_dir = utils.file_dialog(ui)
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if save_dir == False:
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ui.messageBox('Fusion2URDF was canceled', title)
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return 0
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save_dir = save_dir + '/' + robot_name
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try: os.mkdir(save_dir)
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except: pass
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## Set "Do not capture design history"
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design.designType = adsk.fusion.DesignTypes.DirectDesignType
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# --------------------
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# set dictionaries
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# Generate joints_dict. All joints are related to root.
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joints_dict, msg = Joint.make_joints_dict(root, msg)
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if msg != success_msg:
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ui.messageBox(msg, title)
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return 0
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# Generate inertial_dict
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inertial_dict, msg = Link.make_inertial_dict(root, msg)
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if msg != success_msg:
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ui.messageBox(msg, title)
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return 0
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elif not 'base_link' in inertial_dict:
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msg = 'There is no base_link. Please set base_link and run again.'
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ui.messageBox(msg, title)
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return 0
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links_xyz_dict = {}
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# --------------------
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# Generate URDF
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Write.write_urdf(joints_dict, links_xyz_dict, inertial_dict, package_name, save_dir, robot_name)
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Write.write_hello_pybullet(robot_name, save_dir)
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# Generate STl files
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utils.export_stl(app, save_dir)
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# utils.copy_occs(root)
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# utils.export_stl(design, save_dir, components)
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# utils.export_stl(app, save_dir, components)
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# utils.export_stl(design, save_dir, components)
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# utils.export_stl(app, save_dir)
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ui.messageBox(msg, title)
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except:
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if ui:
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ui.messageBox('Failed:\n{}'.format(traceback.format_exc()))
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