8000 Massive feature and bug fix dump: nested components, configuration file, attached joints, sliders, rotated origins, etc. by ANogin · Pull Request #49 · cadop/fusion360descriptor · GitHub
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Massive feature and bug fix dump: nested components, configuration file, attached joints, sliders, rotated origins, etc. 8000 #49

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37070df
Remove unused imports and add utils for consistency with naming
jaredgonzales Mar 25, 2024
56bc5b1
Add utils.py with format_name
jaredgonzales Mar 25, 2024
5f995ec
Close the temporary doc after exporting
jaredgonzales Mar 25, 2024
e928def
Add simple option to export to gazebo with ROS2
jaredgonzales Mar 25, 2024
e48fae8
Add template ros2 package
jaredgonzales Mar 26, 2024
b0b2002
Add nested components to inertia_dict
jaredgonzales Mar 27, 2024
cba8035
Go through each component to add a joint
jaredgonzales Mar 27, 2024
910d50e
Add Slider joint, similar to PR #44
jaredgonzales Mar 27, 2024
6c974e1
Add parsing for root.allJoints
jaredgonzales Mar 28, 2024
a9de558
Rename duplicate joint names
jaredgonzales Mar 28, 2024
6a17c47
Switch to entityTokens for joint_dict and add root occurrences
jaredgonzales Mar 28, 2024
fcffd23
WIP: Moving to inertial dict for links
jaredgonzales Mar 28, 2024
bdf3fb2
Fix children and parents for joints to not be top-level
jaredgonzales Mar 28, 2024
0232bfd
Exporting all links and joints
jaredgonzales Mar 28, 2024
a88e686
Export each occurrence body and skip empty bodies
jaredgonzales Mar 28, 2024
b1f151e
Only export collision mesh if a body exists
jaredgonzales Mar 28, 2024
b8215f1
Only add bodies for collision if sub_mesh enabled
jaredgonzales Mar 29, 2024
e4bf354
Work directly with component_map, allows linked components
jaredgonzales Mar 29, 2024
011e01f
Add better support for linked components
jaredgonzales Apr 1, 2024
23a8fc6
Only add inertial, visual, collision information for link when it has…
jaredgonzales Apr 1, 2024
7518eb0
Fix issue with slider joints not getting axis
jaredgonzales Apr 1, 2024
1673199
Fix bug with RigidGroups not needing to be renamed. Add XYZ informati…
jaredgonzales Apr 2, 2024
47042a9
Do not generate a link_xml if there is no associated body
jaredgonzales Apr 2, 2024
a90ee03
Add robot name to URDF mesh path
jaredgonzales Apr 2, 2024
62571cf
Correct path to include full name
jaredgonzales Apr 2, 2024
049567c
Rename link and joint information for base_link
jaredgonzales Apr 2, 2024
cc3079e
Support base_link renaming for RigidGroup joints
jaredgonzales Apr 2, 2024
78d46fc
Rename stl file for base_link
jaredgonzales Apr 2, 2024
746e403
Exit script if no grounded component for base_link
jaredgonzales Apr 2, 2024
08f8f8d
Clarify exit message for base_link not found
jaredgonzales Apr 2, 2024
9040ea3
Fix bug with RigidGroups using wrong variable for parent/child occurr…
jaredgonzales Apr 3, 2024
718672a
Swap parents and children to get the parents closer to base_link
ANogin Apr 3, 2024
d9fa8ed
Swap the {child,parent}_token when child is swapped with parent, per …
ANogin Apr 4, 2024
6e453e2
Check that joint has valid occurrences before interacting with it
jaredgonzales Apr 5, 2024
8e76370
Add importing appearances
jaredgonzales Apr 5, 2024
782b2f5
Add material xacro
jaredgonzales Apr 5, 2024
0867399
Rename URDF file to .xacro to highlight new file capabilities
jaredgonzales Apr 5, 2024
d57efd6
Finish changing to .xacro file and add dummy link
jaredgonzales Apr 8, 2024
c4ea1ce
Complete using rviz
jaredgonzales Apr 8, 2024
a73f768
WIP: Add Gazebo support but does not have entity xml working
jaredgonzales Apr 8, 2024
dc47bca
Remove unused file
jaredgonzales Apr 8, 2024
9c16fb5
Add the robot to the gazebo model path automatically on launch
jaredgonzales Apr 8, 2024
5408f2c
Add initial moveit package as copy of gazebo
jaredgonzales Apr 10, 2024
4305384
Initial moveit launch file without other config files
jaredgonzales Apr 10, 2024
fc640ce
Do not export hidden components
8000 jaredgonzales Apr 12, 2024
f16389e
Export rviz launch file with Gazebo too
jaredgonzales May 22, 2024
3aa3d89
Attempt to get coordinate transforms correct
ANogin May 22, 2024
76b1aad
Finish coordinate transform fix
ANogin May 22, 2024
2ca049a
Ignore suppressed, rolled back and incomplete joints
ANogin Sep 20, 2024
1daea5b
Support rotations (untested) and add more type annotations
ANogin Sep 21, 2024
d8f0d1c
Use `shutil.copytree` instead of deprecated `distutils.dir_util.copy_…
ANogin Sep 23, 2024
051e0fa
Automatically install numpy
ANogin Sep 23, 2024
21fbddc
Bugfix: use correct Point3D/Matrix3D constructors
ANogin Sep 23, 2024
0c7d107
Simplify the code a bit
ANogin Sep 23, 2024
dd54761
WiP debugging the coordinate transforms
ANogin Sep 24, 2024
b6f75de
Add some experiments to try
ANogin Sep 24, 2024
2cf01b6
Fix some of the coordinate transform errors
ANogin Sep 24, 2024
4ebb306
Set document limits based on the document properties, not user input
ANogin Sep 24, 2024
c97b237
Correctly use cm for slider joint limits regardless of document units
ANogin Sep 24, 2024
4ca8665
Do the correct coordinate transform for joint axes
ANogin Sep 24, 2024
965b51e
Attempting to deal with local assemblies, but something is wrong
ANogin Sep 25, 2024
a20e26f
Try the `getMatrixFromRoot` approach to dealing with assembly contexts
ANogin Sep 25, 2024
c5a9e0b
Add an extra hack to correctly install dependencies in more situations
ANogin Sep 25, 2024
7ad7b80
Include a customized `setup_assistant.launch.py` for MoveIt
ANogin Sep 26, 2024
c78a022
Ask for preferred robot name on the UI (untested)
ANogin Sep 26, 2024
0b97df8
Minor cleanup (untested)
ANogin Sep 26, 2024
1e500b9
Made sure the mesh file names are correct
ANogin Sep 26, 2024
7bc5d08
Continue catching invalid deleted joints
ANogin Sep 26, 2024
4213406
Do not ask the user about the joint order; do not break links
ANogin Sep 26, 2024
cc66371
Correctly transform the joint axis - WiP
ANogin Sep 26, 2024
0bbd715
Coordinate transforms are in cm, not design units; add a lot more debugs
ANogin Sep 29, 2024
59cdbc0
Despite the documentation, `.transform2` is in global frame, not w.r.…
ANogin Sep 30, 2024
6060c5b
Add support for a name mapping json
ANogin Sep 30, 2024
ae56cc1
Use OrderedDict to make the materials order consistent from run to run
ANogin Oct 1, 2024
2d0afb8
Ignore broken rigid groups
ANogin Oct 5, 2024
e6b080c
Move all joints to 0 at the beginning of the export
ANogin Oct 10, 2024
7a4e3f5
Add some further sanity checking
ANogin Oct 10, 2024
e85b570
Minor changes
ANogin Oct 10, 2024
5fc2d96
Do not insist on having joint origins coincide
ANogin Oct 15, 2024
ab38a43
No need to name the grounded link as "base_link" given "dummy_link" e…
ANogin Oct 23, 2024
67a3a38
Provide more information when the structure is broken
ANogin Nov 6, 2024
6df52e9
Use xml.etree.ElementTree to format the URDF files
ANogin Nov 7, 2024
a3e56b5
Do not ignore the mesh resulution setting. Simplify code
ANogin Nov 18, 2024
f108095
Support a Yaml configuration file.
ANogin Nov 18, 2024
8115747
Start with the "Preview" tab unexpanded; expand when it is filled in.
ANogin Nov 18, 2024
7e9f18e
Update the `README.md`
ANogin Nov 18, 2024
c2d99aa
Clean up how the bodies/meshes are collected
ANogin Nov 19, 2024
ca04307
Make sure the temporary design is deleted on error
ANogin Nov 19, 2024
eaf1d5a
Do not create a separate vision stl when there is only one body
ANogin Nov 19, 2024
b2efa22
Implement support for merging multiple Fusion components into a singl…
ANogin Nov 19, 2024
df13464
Joint axis in URDF is supposed to be in child frame, not parent
ANogin Nov 19, 2024
884ca8e
Remove old debug code
ANogin Nov 19, 2024
63809c4
Improve sanity checking code
ANogin Nov 19, 2024
79130b4
Flip the joint axis when joint parent/child are swapped
ANogin Nov 19, 2024
98c8512
Round the numbers a bit
ANogin Nov 19, 2024
7e33586
Support naming the whole assembly in config file's MergeLinks
ANogin Nov 20, 2024
3d49595
Make an extra check to not duplicate bodies
ANogin Nov 20, 2024
e8fc161
Use correct merged link name when it is the base link
ANogin Nov 21, 2024
db958d7
Support a more complex MergeLinks structure; support Extra links and …
ANogin Dec 5, 2024
664f63d
Tweak the code to work more reliably
ANogin Dec 5, 2024
024fc8c
Add an extra sanity check
ANogin Dec 5, 2024
e4e5db1
Support "Extras" links that are not connected to the rest of the system
ANogin Dec 5, 2024
4610977
Allow using a MergedLink for subframe locations
ANogin Dec 6, 2024
b04fef7
Update to allow specifying the root node of URDF in the config file
ANogin Dec 6, 2024
a1eba4a
bug fix
Jepson2k Dec 9, 2024
8b9f647
Support wildcards and full path names in configuration
ANogin Dec 10, 2024
4602831
Made order of things more consistent (hopefully)
ANogin Jan 7, 2025
dd0b7cf
Add git rev to the .txt output
ANogin Jan 24, 2025
fa2f797
Add a sanity check
ANogin Jan 26, 2025
51cf3c8
Small cleanup and bug fixes
ANogin Jan 26, 2025
b9a2554
Preserve the order of things from one export to the next
ANogin Feb 15, 2025
e6c013a
Add a sample configuration file
ANogin Apr 29, 2025
1b6223a
Delete unused Hierarchy.parent
ANogin May 2, 2025
43c71af
Move `*_to_str` functions to utils
ANogin May 2, 2025
c290d12
Remove unnecessary iterations
ANogin May 2, 2025
aa71020
Delete obsolete commented code.
ANogin May 2, 2025
da25cf0
Make the code a little more robust
ANogin Jun 6, 2025
f091775
Print more detailed error message when joints are in a weird state
ANogin Jun 7, 2025
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3 changes: 1 addition & 2 deletions Descriptor/Descriptor.py
Original file line number Diff line number Diff line change
@@ -1,8 +1,7 @@
import adsk.core, adsk.fusion, adsk.cam, traceback
import adsk.core, adsk.fusion, traceback

from .core.ui import config_settings
from .core import manager
from .core import io

ui_handlers = []

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