Nested components, as-built joints, MJCF joint ranges, and more #9
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| @@ -134,9 +138,6 @@ def run(): | |||
| constants.set_text_palette(textPalette) | |||
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| try: | |||
| # Set design type into do not capture design history | |||
| design.designType = adsk.fusion.DesignTypes.DirectDesignType | |||
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From what I can tell, this shouldn't be necessary. I kept the design history enabled for my model and everything was okay.
| ui.messageBox("Finished exporting URDF for Gazebo.", msg_box_title) | ||
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| elif simulator == "PyBullet": | ||
| elif simulator in ["Gazebo", "PyBullet", "MuJoCo"]: |
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Since the code in each condition was nearly identical, I combined them into a single block.
| self.joint = joint | ||
| self.name = joint.name | ||
| self.parent = joint.occurrenceTwo # parent link of joint | ||
| self.child = joint.occurrenceOne | ||
| try: |
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In some cases, like when creating a rigid joint to an origin (i.e. lock to world), fetching the occurrences throws an exception.
| @@ -144,7 +163,9 @@ def get_sdf_origin(self): | |||
| # I guess using child joint origin works just because they coincide together for all the text examples | |||
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| # get parent joint origin as the child joint | |||
| if self.joint.geometryOrOriginTwo == adsk.fusion.JointOrigin: | |||
| if hasattr(self.joint, 'geometry'): | |||
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Necessary for an as-built joint
| @@ -182,17 +203,24 @@ def get_joint_frame(self) -> adsk.core.Matrix3D: | |||
| translation unit: cm | |||
| """ | |||
| # get parent joint origin's coordinate w.r.t world frame | |||
| if self.joint.geometryOrOriginTwo == adsk.fusion.JointOrigin: | |||
| w_P_J = self.joint.geometryOrOriginTwo.geometry.origin.asArray() | |||
| if hasattr(self.joint, 'geometry'): | |||
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As-built joint origin geometry.
| @@ -69,18 +69,14 @@ def get_parent_joint(self) -> adsk.fusion.Joint: | |||
| # TODO: in closed loop mechanism, there exits one assembly method that | |||
| # make one link have two parent joint, write a instruction or fix this bug | |||
| # text_palette = constants.get_text_palette() | |||
| joint_list: adsk.fusion.JointList = self.link.joints | |||
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In some cases, when there are nested components, retrieving link.joints will throw the exception: "RuntimeError: 3 : object does not belong to the occurrence's component"
The solution is to fetch all the joints in the design and perform the same logic.
| @@ -161,6 +161,13 @@ def get_mjcf_joint(joint: Joint) -> Element: | |||
| joint_ele.attrib = {"name": name_att, "type": joint_type, | |||
| "axis": "{} {} {}".format(axis[0], axis[1], axis[2]), | |||
| "pos": "{} {} {}".format(pose[0], pose[1], pose[2])} | |||
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| limits = joint.get_limits() | |||
| all_occs = root_comp.allOccurrences | ||
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| joints = [j for j in root_comp.allJoints] + [j for j in root_comp.allAsBuiltJoints] |
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Include as-built joints in mjcf
| @@ -236,6 +244,8 @@ def add_body_element(parent: adsk.fusion.Occurrence, parent_body_ele: Element) - | |||
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| # traverse all the occs for body elements | |||
| for occ in all_occs: | |||
| if not occ.isLightBulbOn or not utils.component_has_bodies(occ.component): | |||
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Ignore components that don't directly have bodies or that are not visible.
| @@ -283,44 +283,6 @@ def get_joint_type(joint: Joint) -> str: | |||
| pass | |||
| return sdf_joint_type | |||
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| def get_joint_pose(joint: Joint) -> list[float]: | |||
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This looked to be the same code as joint.get_sdf_origin
| @@ -539,7 +548,7 @@ def get_link_inertial_origin(link: Link) -> list[float]: | |||
| unit: m, radian | |||
| """ | |||
| # the link is the first link so called base-link | |||
| if link.get_parent_joint() is None: | |||
| if not joint_has_geometry(link.get_parent_joint()): | |||
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joint_has_geometry will return false if there is no parent joint, or if it's an as-built rigid joint.
| link_frame: adsk.core.Matrix3D = link.pose | ||
| from_origin, from_xAxis, from_yAxis, from_zAxis = parent_joint_frame.getAsCoordinateSystem() | ||
| to_origin, to_xAsix, to_yAxis, to_zAxis = link_frame.getAsCoordinateSystem() | ||
| if joint.has_origin(): | ||
| parent_joint_frame: adsk.core.Matrix3D = joint.get_joint_frame() | ||
| transform = math_op.coordinate_transform(parent_joint_frame, link.pose) | ||
| mesh_origin = math_op.matrix3d_2_pose(transform) | ||
| else: | ||
| mesh_origin = math_op.matrix3d_2_pose(link.pose) | ||
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| transform = adsk.core.Matrix3D.create() |
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These variables weren't being used
jgillick
changed the title
Thanks for this great Fusion 360 Add In. I'd like to contribute the following updates:
As-Built Joints
These can be useful for some robots. The biggest challenge I ran into was that rigid as-built joints do not have parent origin geometry. In these cases, using the parent origin seems sufficient.
Test model
Here's a simple model I used to test these changes: https://a360.co/4kr0hsC