"""RS06 whole-robot layout r01, generated in Autodesk Fusion. Run from the repository with the existing local Fusion MCP runner. Set __file__ to this file when loading via exec, or set SHAPPY_ROOT to the repository root. Reuses v2_leg/link_candidates/fusion_build.py for the reviewed C lower link. This is a placement model, not a released production assembly. """ import hashlib import importlib.util import json import math import os from pathlib import Path import adsk.core as ac import adsk.fusion as af ROOT = Path(os.environ.get('SHAPPY_ROOT', Path(__file__).resolve().parents[2])) HERE = ROOT / 'v2_robot/rs06_concept' P = json.loads((HERE / 'parameters.json').read_text()) DOCUMENT = 'Shappy V2 - RS06 Whole Robot r01' spec = importlib.util.spec_from_file_location('lower_link_helpers', ROOT / 'v2_leg/link_candidates/fusion_build.py') L = importlib.util.module_from_spec(spec) spec.loader.exec_module(L) TM = af.TemporaryBRepManager.get() RECORDS = [] TEMPLATES = {} COLORS = {'frame':[.47,.54,.62], 'motors':[.16,.19,.23], 'upper_links':[.18,.36,.57], 'lower_links':[.16,.55,.48], 'transmission':[.66,.69,.73], 'electronics':[.46,.39,.63], 'hardware':[.62,.65,.69]} def pt(xyz): return ac.Point3D.create(*[v/10 for v in xyz]) def cross(a,b): return (a[1]*b[2]-a[2]*b[1], a[2]*b[0]-a[0]*b[2], a[0]*b[1]-a[1]*b[0]) def matrix(origin=(0,0,0), x=(1,0,0), y=(0,1,0)): m=ac.Matrix3D.create() m.setToAlignCoordinateSystems(ac.Point3D.create(0,0,0),ac.Vector3D.create(1,0,0), ac.Vector3D.create(0,1,0),ac.Vector3D.create(0,0,1),pt(origin), ac.Vector3D.create(*x),ac.Vector3D.create(*y),ac.Vector3D.create(*cross(x,y))) return m def box(center, dimensions): return TM.createBox(ac.OrientedBoundingBox3D.create(pt(center),ac.Vector3D.create(1,0,0), ac.Vector3D.create(0,1,0),*[v/10 for v in dimensions])) def cylinder(a,b,r): return TM.createCylinderOrCone(pt(a),r/10,pt(b),r/10) def subtract(body,tool): if not TM.booleanOperation(body,tool,af.BooleanTypes.DifferenceBooleanType): raise RuntimeError('Boolean difference failed') return body def union(body,tool): if not TM.booleanOperation(body,tool,af.BooleanTypes.UnionBooleanType): raise RuntimeError('Boolean union failed') return body def add_temp(comp,name,body): f=comp.features.baseFeatures.add();f.name=name f.startEdit();comp.bRepBodies.add(body,f);f.finishEdit() b=f.bodies.item(0);b.name=name return b def component(root,name,group,kind,leg=None,transform=None): occurrence,comp=L.component(root,name) RECORDS.append({'occurrence':occurrence,'group':group,'kind':kind,'leg':leg,'role':name,'transform':transform or ac.Matrix3D.create()}) comp.attributes.add('ShappyRS06','group',group) return occurrence,comp def instance(root,comp,name,group,kind,leg,transform): if comp.name in TEMPLATES: o=TEMPLATES.pop(comp.name);o.isLightBulbOn=True else: o=root.occurrences.addExistingComponent(comp,ac.Matrix3D.create()) RECORDS.append({'occurrence':o,'group':group,'kind':kind,'leg':leg,'role':name,'transform':transform}) return o def circles(radius,count,angle=0): return [(radius*math.cos(angle+2*math.pi*i/count),radius*math.sin(angle+2*math.pi*i/count)) for i in range(count)] def motor(comp,rotor_comp): housing=L.disk(comp,'RS06_D90_L55_reference_housing',0,0,45,55,y=-27.5) L.holes(comp,'Front_rotor_recess',[(0,0)],28,6,y=0,bodies=[housing]) L.holes(comp,'Stator_8_M3_on_PCD82_reference',circles(41,8,math.pi/8),1.6,9,y=-4.5,bodies=[housing]) rotor=L.disk(rotor_comp,'RS06_output_pilot_D52_reference',0,0,26,4.5,y=-.75) L.holes(rotor_comp,'Output_6_M4_on_PCD24_reference',circles(12,6,math.pi/2),2,6,y=-1.5,bodies=[rotor]) L.holes(rotor_comp,'Output_center_visual_relief',[(0,0)],3,8,bodies=[rotor]) housing.name='RS06_D90_L55_reference_housing' rotor.name='RS06_output_pilot_D52_reference' # Rear connector block is an additional reserved envelope, not a selected cable. add_temp(comp,'Connector_clearance_REFERENCE',subtract(box((0,-51,-46),(20,12,10)),TM.copy(housing))) def stator_ring(comp,name,y): b=L.disk(comp,name,0,0,48,4,y=y,inner=28) L.holes(comp,name+'_8_M3_clearance',circles(41,8,math.pi/8),1.7,6,y=y,bodies=[b]) return b def upper(comp): body=L.disk(comp,'Hip_drive_eye',0,0,26,6,y=133,inner=4) L.poly(comp,'Inner_PETG_cheek',[(0,-24),(65,-22),(200,-19),(200,19),(65,22),(0,24)],6,y=133,radius=3,operation=L.JOIN) L.disk(comp,'Inner_knee_bearing_seat',200,0,23,6,y=133,operation=L.JOIN) L.holes(comp,'Inner_knee_6001_seat_REFERENCE',[(200,0)],14.1,10,y=133) L.holes(comp,'Hip_6_M4_clearance',circles(12,6,math.pi/2),2.2,12,y=133) for i,(a,b) in enumerate([(48,84),(96,133),(146,174)]): L.poly(comp,'Inner_lightening_'+str(i),[(a,-12),(b,-10),(b,10),(a,12)],12,y=133,radius=3,operation=L.CUT) outer=L.poly(comp,'Outer_PETG_cheek',[(66,-22),(200,-19),(200,19),(66,22)],6,y=187,radius=3) L.disk(comp,'Outer_knee_seat',200,0,23,6,y=187,operation=L.JOIN,bodies=[outer]) L.holes(comp,'Outer_knee_6001_seat_REFERENCE',[(200,0)],14.1,10,y=187,bodies=[outer]) for i,(a,b) in enumerate([(78,130),(145,174)]): L.poly(comp,'Outer_lightening_'+str(i),[(a,-11),(b,-9),(b,9),(a,11)],10,y=187,radius=3,operation=L.CUT,bodies=[outer]) # Bridges sit inside the open belt loop; no belt force qualification is implied. for x in (89,140,160): for z in (-16,16): add_temp(comp,'Cheek_bridge_%s_%s'%(x,z),box((x,160,z),(10,48,6))) bodies=list(comp.bRepBodies) join=comp.features.combineFeatures.createInput(bodies[0],L.collect(bodies[1:])) join.operation=L.JOIN feature=comp.features.combineFeatures.add(join);feature.name='Single_connected_printed_upper_link' if comp.bRepBodies.count!=1:raise RuntimeError('Upper link must be one connected solid') comp.bRepBodies.item(0).name='PETG_upper_200_integral_cheeks_and_bridges' def belt_and_pulleys(comp): radius=P['belt']['teeth_each']*P['belt']['pitch_mm']/(2*math.pi) y=P['belt']['center_y_mm'] for x in (0,200): pulley=L.disk(comp,'S5M_40T_pitch_envelope_'+str(x),x,0,radius-.65,25,y=y,inner=6.1) L.disk(comp,'Pulley_front_flange_'+str(x),x,0,radius+2.5,1,y=140.5,inner=6.1,operation=L.JOIN,bodies=[pulley]) L.disk(comp,'Pulley_back_flange_'+str(x),x,0,radius+2.5,1,y=166.5,inner=6.1,operation=L.JOIN,bodies=[pulley]) # Web window is cosmetic weight allowance; actual selected hub is unresolved. for p in circles(19,6): L.holes(comp,'Pulley_web_hole',[(p[0]+x,p[1])],3.3,30,y=y,bodies=[pulley]) # A continuous capsule-shaped pitch path, 3mm thick. Teeth are intentionally absent. outside=union(cylinder((0,y-12.5,0),(0,y+12.5,0),radius+1.5),box((100,y,0),(200,25,2*(radius+1.5)))) union(outside,cylinder((200,y-12.5,0),(200,y+12.5,0),radius+1.5)) inside=union(cylinder((0,y-13.5,0),(0,y+13.5,0),radius-1.5),box((100,y,0),(200,27,2*(radius-1.5)))) union(inside,cylinder((200,y-13.5,0),(200,y+13.5,0),radius-1.5)) add_temp(comp,'600S5M250_belt_PITCH_PATH_not_teeth',subtract(outside,inside)) def lower_hardware(comp): # Integral output flange and shoulder shaft concept: torque is NOT transmitted by # bearing friction. Pulley keyed/clamping interface remains an explicit open task. shaft=cylinder((0,125,0),(0,194,0),6) union(shaft,cylinder((0,120,0),(0,125,0),24)) union(shaft,cylinder((0,116,0),(0,120,0),6)) union(shaft,cylinder((0,125,0),(0,128,0),8)) for x,z in L.BOLT_CENTERS: subtract(shaft,cylinder((x,119,z),(x,126,z),2.15)) for x,z in L.DOWEL_CENTERS: subtract(shaft,cylinder((x,119,z),(x,126,z),2)) add_temp(comp,'Knee_integral_shoulder_shaft_and_flange_PROVISIONAL',shaft) back=L.disk(comp,'C_link_backing_plate',0,0,24,2,y=99,inner=6.2) L.holes(comp,'Backing_bolts',L.BOLT_CENTERS,2.15,4,y=99,bodies=[back]) L.holes(comp,'Backing_dowels',L.DOWEL_CENTERS,2.1,4,y=99,bodies=[back]) for i,(x,z) in enumerate(L.BOLT_CENTERS): L.disk(comp,'Root_crush_sleeve_'+str(i),x,z,3,20,y=110,inner=2.15) b=L.disk(comp,'Root_M4_shank_envelope_'+str(i),x,z,2,27,y=111.5) L.disk(comp,'Root_M4_head_envelope_'+str(i),x,z,3.5,4,y=96,operation=L.JOIN,bodies=[b]) for i,(x,z) in enumerate(L.DOWEL_CENTERS): L.disk(comp,'Root_dowel_'+str(i),x,z,2,12,y=119) L.disk(comp,'Shaft_retention_nut_ENVELOPE',0,0,9,4,y=192,inner=6) for i,(x,z) in enumerate(L.FOOT_CENTERS): L.disk(comp,'Foot_crush_sleeve_'+str(i),x,z,2.5,17,y=110,inner=1.65) b=L.disk(comp,'Foot_M3_shank_'+str(i),x,z,1.5,20,y=111.5) L.disk(comp,'Foot_M3_head_'+str(i),x,z,2.75,3,y=100,operation=L.JOIN,bodies=[b]) L.disk(comp,'Foot_M3_nut_'+str(i),x,z,3.18,2.4,y=119.7,inner=1.65) def bearing(comp,y): return L.disk(comp,'6001ZZ_12x28x8_ENVELOPE',0,0,14,8,y=y,inner=6) def appearance(design,body,color_name): library=ac.Application.get().materialLibraries.itemByName('Fusion Appearance Library') name='RS06_'+color_name app=design.appearances.itemByName(name) if not app:app=design.appearances.addByCopy(library.appearances.itemByName('Plastic - Matte ('+color_name+')'),name) body.appearance=app def run(_context): RECORDS.clear() TEMPLATES.clear() app=ac.Application.get() if any(d.name==DOCUMENT for d in app.documents): raise RuntimeError('Preserving existing r01 document; inspect it or use a new revision before rebuilding') doc=app.documents.add(ac.DocumentTypes.FusionDesignDocumentType);doc.name=DOCUMENT design=af.Design.cast(app.activeProduct);design.designType=af.DesignTypes.ParametricDesignType root=design.rootComponent;root.attributes.add('ShappyRS06','owner','rs06-concept-r01') for name,n in [('upper_length',200),('lower_length',195),('belt_pitch_length',600),('motor_envelope_diameter',90),('haa_half_spacing',95)]: design.userParameters.add(name,L.value(n),'mm','Source parameters.json; regenerate code to change this layout') alpha=math.radians(P['pose']['hip_deg']);beta=math.radians(P['pose']['knee_relative_deg']);abd=math.radians(P['pose']['haa_outward_deg']) upper_dir=(-math.sin(alpha),0,-math.cos(alpha));lower_dir=(-math.sin(alpha+beta),0,-math.cos(alpha+beta)) drop=200*math.cos(alpha)+195*math.cos(alpha+beta) haa_z=20+drop*math.cos(abd)-(110-95)*math.sin(abd) # Pocketed 5mm stock frames, not solid 5mm covers. _,frame=component(root,'Pocketed_A6061_body_frames','frame','aluminum') for z in (-52.5,52.5): body=box((0,0,haa_z+z),(340,290,5)) for x,length in [(-105,100),(25,110),(125,55)]: subtract(body,box((x,0,haa_z+z),(length,250,9))) add_temp(frame,'Pocketed_plate_'+str(z),body) for y in (-142.5,142.5): for z in (-40,40):add_temp(frame,'Side_rail',box((0,y,haa_z+z),(340,5,20))) for x in (-172,172): bulk=box((x,0,haa_z),(4,290,110)) for y in (-95,95): subtract(bulk,cylinder((x-4,y,haa_z),(x+4,y,haa_z),28)) for u,v in circles(41,8,math.pi/8): subtract(bulk,cylinder((x-4,y+u,haa_z+v),(x+4,y+u,haa_z+v),1.7)) subtract(bulk,box((x,0,haa_z),(8,75,75))) add_temp(frame,'HAA_mount_bulkhead_'+str(x),bulk) # Reserved volumes are intentionally identifiable, no product performance implied. _,electronics=component(root,'Battery_and_electronics_RESERVED_SPACES','electronics','reserved') add_temp(electronics,'Battery_RESERVED_160x90x45',box((-55,0,haa_z-15),(160,90,45))) add_temp(electronics,'Computer_RESERVED_105x80x25',box((92,0,haa_z+15),(105,80,25))) add_temp(electronics,'Power_RESERVED_80x70x18',box((-55,0,haa_z+26.5),(80,70,18))) # Build reusable native templates once. Each occurrence has explicit world transform. _,motor_comp=component(root,'RS06_reference_motor','motors','catalog_motor') RECORDS.pop()['occurrence'].isLightBulbOn=False _,rotor_comp=component(root,'RS06_reference_rotor','motors','motor_rotor') RECORDS.pop()['occurrence'].isLightBulbOn=False motor(motor_comp,rotor_comp) _,upper_comp=component(root,'PETG_upper_link_200','upper_links','PETG');upper(upper_comp) upper_template=RECORDS.pop()['occurrence'];upper_template.isLightBulbOn=False _,belt_comp=component(root,'S5M_belt_drive_40T_600_25','transmission','belt_drive');belt_and_pulleys(belt_comp) belt_template=RECORDS.pop()['occurrence'];belt_template.isLightBulbOn=False _,lower_comp=component(root,'C_diagonal_lower_link_195','lower_links','PETG');L.build_link(lower_comp,L.IDS[2]) lower_template=RECORDS.pop()['occurrence'];lower_template.isLightBulbOn=False cup_occ,cup_comp=L.foot_carrier(root);cup_occ.isLightBulbOn=False _,lower_hw=component(root,'Lower_shaft_flange_sleeves','hardware','steel');lower_hardware(lower_hw) hw_template=RECORDS.pop()['occurrence'];hw_template.isLightBulbOn=False _,ball_comp=component(root,'D40_foot_ball_REFERENCE','lower_links','elastomer');L.add_sphere(ball_comp,'Foot_ball_reference',(195,0,0),20) ball_template=RECORDS.pop()['occurrence'];ball_template.isLightBulbOn=False # Reuse each source occurrence as the first instance, then instance its component. TEMPLATES.update({o.component.name:o for o in root.occurrences if not o.isLightBulbOn}) for leg,front,side in [('FL',1,1),('FR',1,-1),('RL',-1,1),('RR',-1,-1)]: xhip=front*P['body']['pitch_axis_x_mm']; xhaa=front*170 def point_leg(x,y,z): dy=y-95 return (x,side*(95+dy*math.cos(abd)-z*math.sin(abd)),haa_z+dy*math.sin(abd)+z*math.cos(abd)) def vector_leg(v): # Reflection of Y is combined with reversed local Z via matrix() so # each occurrence transform remains a proper rigid rotation. return (v[0],side*(v[1]*math.cos(abd)-v[2]*math.sin(abd)),v[1]*math.sin(abd)+v[2]*math.cos(abd)) def link_matrix(origin,dir,y_sign=1): return matrix(point_leg(*origin),vector_leg(dir),vector_leg((0,y_sign,0))) # HAA is fixed to chassis. Its output drives the complete pitch carrier. instance(root,motor_comp,leg+'_HAA','motors','catalog_motor',leg, matrix((xhaa,side*95,haa_z),(0,-front,0),(front,0,0))) instance(root,rotor_comp,leg+'_HAA_rotor','motors','motor_rotor',leg, matrix((xhaa,side*95,haa_z),(0,side*math.cos(abd),math.sin(abd)),(front,0,0))) instance(root,motor_comp,leg+'_HFE','motors','catalog_motor',leg, matrix(point_leg(xhip,120,0),vector_leg((side,0,0)),vector_leg((0,1,0)))) instance(root,rotor_comp,leg+'_HFE_rotor','motors','motor_rotor',leg, matrix(point_leg(xhip,120,0),vector_leg(upper_dir),vector_leg((0,1,0)))) instance(root,motor_comp,leg+'_KFE','motors','catalog_motor',leg, matrix(point_leg(xhip,174,0),vector_leg((-side,0,0)),vector_leg((0,-1,0)))) instance(root,rotor_comp,leg+'_KFE_rotor','motors','motor_rotor',leg, matrix(point_leg(xhip,174,0),vector_leg(lower_dir),vector_leg((0,-1,0)))) # Motor carrier ring and overhead bridge; all dimensions in left-leg frame. _,carrier=component(root,leg+'_metal_pitch_carrier','frame','aluminum',leg, matrix(point_leg(xhip,0,0),vector_leg((side,0,0)),vector_leg((0,1,0)))) r1=stator_ring(carrier,'HFE_stator_ring',122);r2=stator_ring(carrier,'KFE_stator_ring',172) # Ring tabs terminate at z50; bridge joins these tabs above R48 envelope. tabs=[] for y in (122,172): tabs.append(add_temp(carrier,'Ring_top_tab',box((0,y,48),(22,4,12)))) bridge=add_temp(carrier,'Top_bridge',box((0,147,56.5),(24,54,5))) r1=L.combine(carrier,r1,tabs[0],L.JOIN,'Ring_one_tab_join') r2=L.combine(carrier,r2,tabs[1],L.JOIN,'Ring_two_tab_join') r1=L.combine(carrier,r1,bridge,L.JOIN,'Ring_bridge_join') L.combine(carrier,r1,r2,L.JOIN,'Complete_pitch_carrier') # Native mirrored templates use localZ sign flip on the right, so keep # carrier top geometry explicitly corrected to world-up if necessary. if side<0: for b in carrier.bRepBodies: # The carrier is symmetric in X, and its transform above keeps Z up. pass # HAA output adapter and offset arm, created in global geometry then Rx. _,arm=component(root,leg+'_abduction_carrier_arm','frame','aluminum',leg, matrix((0,side*95,haa_z),(1,0,0),(0,side*math.cos(abd),math.sin(abd)))) # localZ points upward on left and downward on right; compensate geometry. zs=side block=box((front*179,0,zs*23),(6,60,72)) union(block,cylinder((front*171.5,0,0),(front*176,0,0),26)) bridge_end=P['body']['pitch_axis_x_mm']-12 union(block,box((front*(176+bridge_end)/2,52,zs*56.5),(bridge_end-176,110,5))) subtract(block,cylinder((front*170,0,0),(front*183,0,0),4)) for u,v in circles(12,6,math.pi/2): subtract(block,cylinder((front*170,u,v),(front*183,u,v),2.15)) add_temp(arm,'HAA_output_arm_and_bridge',block) # Upper assembly rotates about pitch axis; Y coordinates are absolute in leg frame. upper_m=link_matrix((xhip,0,0),upper_dir) instance(root,upper_comp,leg+'_upper','upper_links','PETG',leg,upper_m) instance(root,belt_comp,leg+'_belt','transmission','belt_drive',leg,upper_m) # HFE rotor to printed inner cheek, and KFE rotor to proximal pulley. _,couplers=component(root,leg+'_HFE_output_adapter','transmission','aluminum',leg,upper_m) h=L.disk(couplers,'HFE_output_adapter',0,0,26,8.5,y=125.75,inner=4) L.holes(couplers,'HFE_6M4',circles(12,6,math.pi/2),2.15,10,y=126,bodies=[h]) _,kfe_adapter=component(root,leg+'_KFE_output_adapter','transmission','aluminum',leg,link_matrix((xhip,0,0),lower_dir)) k=L.disk(kfe_adapter,'KFE_pulley_adapter',0,0,26,5.5,y=169.75,inner=6.1) L.holes(kfe_adapter,'KFE_6M4',circles(12,6,math.pi/2),2.15,7,y=170,bodies=[k]) knee=(xhip+200*upper_dir[0],0,200*upper_dir[2]) lower_m=link_matrix((knee[0],110,knee[2]),lower_dir) instance(root,lower_comp,leg+'_lower_C','lower_links','PETG',leg,lower_m) instance(root,cup_comp,leg+'_foot_cup','lower_links','PETG',leg,lower_m) instance(root,ball_comp,leg+'_ball','lower_links','elastomer',leg,lower_m) # Shaft/flange and bearings share knee axis but follow different rotations. hw_m=link_matrix(knee,lower_dir) instance(root,lower_hw,leg+'_knee_hardware','hardware','steel',leg,hw_m) _,bearings=component(root,leg+'_knee_bearings','hardware','bearing',leg,link_matrix(knee,upper_dir)) bearing(bearings,132);bearing(bearings,186) print('Built '+leg) if TEMPLATES:raise RuntimeError('Uninstanced source components: '+str(list(TEMPLATES))) # Fusion parametric designs need a captured position after all native features. # Applying transforms during feature construction can be rolled back by recompute. for rec in RECORDS:rec['occurrence'].transform2=rec['transform'] if design.snapshots.hasPendingSnapshot:design.snapshots.add() for rec in RECORDS: for b in rec['occurrence'].component.bRepBodies: color='Gray' if rec['group']=='motors':color='Gray' if 'output_pilot' in b.name else 'Black' elif rec['kind']=='PETG':color='Green' if rec['group']=='lower_links' else 'Blue' elif rec['kind']=='elastomer' or 'belt_PITCH' in b.name:color='Black' elif rec['group']=='electronics':color='Blue' appearance(design,b,color) if not design.computeAll():raise RuntimeError('Native recompute failed') issues=[{'name':i.name,'message':i.errorOrWarningMessage} for i in design.timeline if i.healthState!=af.FeatureHealthStates.HealthyFeatureHealthState] if issues:raise RuntimeError('Timeline issues: '+json.dumps(issues)) root.attributes.add('ShappyRS06','complete','true') output=HERE/'cad';output.mkdir(exist_ok=True) # Export native geometry and exactly the same tessellated shapes for the web. parts=[];body_records=[];entities=ac.ObjectCollection.create();points_all=[] for rec in RECORDS: occ=rec['occurrence'];trans=occ.transform2 for body in occ.component.bRepBodies: proxy=body.createForAssemblyContext(occ);entities.add(proxy) calculator=body.meshManager.createMeshCalculator() calculator.setQuality(af.TriangleMeshQualityOptions.LowQualityTriangleMesh) calculator.surfaceTolerance=.025;calculator.maxSideLength=5 calculator.maxNormalDeviation=0 mesh=calculator.calculate() positions=[];normals=[] for p in mesh.nodeCoordinates: p.transformBy(trans);xyz=[round(getattr(p,a)*10,5) for a in 'xyz'];positions.extend(xyz);points_all.append(xyz) for n in mesh.normalVectors: n.transformBy(trans);normals.extend([round(getattr(n,a),6) for a in 'xyz']) color=COLORS[rec['group']] if 'belt_PITCH' in body.name or rec['kind']=='elastomer':color=[.09,.11,.14] if 'output_pilot' in body.name:color=[.67,.70,.74] parts.append({'name':body.name,'component':rec['role'],'group':rec['group'],'kind':rec['kind'],'leg':rec['leg'], 'positions':positions,'normals':normals,'indices':list(mesh.nodeIndices),'color':color}) body_records.append({'component':rec['role'],'body':body.name,'group':rec['group'],'kind':rec['kind'],'leg':rec['leg'], 'volume_mm3':body.volume*1000,'is_solid':body.isSolid, 'bounds_mm':[[getattr(proxy.boundingBox.minPoint,a)*10 for a in 'xyz'],[getattr(proxy.boundingBox.maxPoint,a)*10 for a in 'xyz']]}) bounds=[[min(p[i] for p in points_all) for i in range(3)],[max(p[i] for p in points_all) for i in range(3)]] scene={'revision':P['revision'],'units':'mm','source':'Native Fusion BRep tessellation, 0.25 mm requested tolerance', 'bounds_mm':bounds,'parts':parts,'limitations':P['limitations']} (HERE/'viewer/scene.json').write_text(json.dumps(scene,separators=(',',':'))+'\n') inp=design.createInterferenceInput(entities);inp.areCoincidentFacesIncluded=False interferences=design.analyzeInterference(inp) def identity(entity): return (entity.assemblyContext.name if entity.assemblyContext else entity.parentComponent.name)+' / '+entity.name collisions=[{'one':identity(i.entityOne),'two':identity(i.entityTwo),'volume_mm3':i.interferenceBody.volume*1000} for i in interferences if i.interferenceBody.volume*1000>1e-4] report={'revision':P['revision'],'document':DOCUMENT,'body_count':len(body_records),'motor_count':12,'timeline_features':design.timeline.count, 'timeline_issues':issues,'haa_height_mm':haa_z,'bounds_mm':bounds,'body_records':body_records,'standing_interferences':collisions, 'collision_scope':'single standing pose; pitch-path belt/pulley tooth envelopes intentionally overlap; unresolved structural overlaps require correction', 'source_sha256':hashlib.sha256(Path(__file__).read_bytes()).hexdigest(),'parameters_sha256':hashlib.sha256((HERE/'parameters.json').read_bytes()).hexdigest(), 'status':'layout only; no full-robot FEA, dynamic simulation, physical test, or manufacturing release'} (output/'cad_checks.json').write_text(json.dumps(report,indent=2)+'\n') manager=design.exportManager for option in [manager.createSTEPExportOptions(str(output/'shappy_rs06_r01.step')), manager.createFusionArchiveExportOptions(str(output/'shappy_rs06_r01.f3d'))]: if not manager.execute(option):raise RuntimeError('CAD export failed') camera=app.activeViewport.camera;camera.eye=pt((850,-1050,700));camera.target=pt((0,0,180));camera.upVector=ac.Vector3D.create(0,0,1) camera.cameraType=ac.CameraTypes.OrthographicCameraType;camera.isFitView=True;camera.isSmoothTransition=False app.activeViewport.camera=camera;app.activeViewport.fit() image=ac.SaveImageFileOptions.create(str(output/'assembly.png'));image.width=1800;image.height=1200 if not app.activeViewport.saveAsImageFileWithOptions(image):raise RuntimeError('Image export failed') print(json.dumps({'bodies':len(body_records),'triangles':sum(len(p['indices'])//3 for p in parts),'collisions':len(collisions),'haa_height_mm':haa_z,'bounds_mm':bounds}))