"""Read-only native Fusion audit for the generated RS06 r02 document.""" from pathlib import Path import hashlib import json import adsk.core as ac import adsk.fusion as af HERE = Path(__file__).resolve().parent def run(_context): d = af.Design.cast(ac.Application.get().activeProduct) assert d.parentDocument.name == 'Shappy V2 - RS06 Whole Robot r02' p = json.loads((HERE / 'parameters.json').read_text()) analysis = json.loads((HERE.parent / 'rs06_concept/analysis.json').read_text()) checks = json.loads((HERE / 'cad/cad_checks.json').read_text()) for filename, key in [('fusion_build.py', 'source_sha256'), ('parameters.json', 'parameters_sha256')]: assert hashlib.sha256((HERE / filename).read_bytes()).hexdigest() == checks[key] old_parameters=json.loads((HERE.parent / 'rs06_concept/parameters.json').read_text()) assert p['kinematics']==old_parameters['kinematics'] and p['pose']==old_parameters['pose'] healthy = all(i.healthState == af.FeatureHealthStates.HealthyFeatureHealthState for i in d.timeline) assert healthy expected = analysis['poses']['stand']['foot_centers_mm'] feet, housings, bodies, uppers = {}, 0, 0, 0 for o in d.rootComponent.occurrences: if o.component.name == 'PETG_upper_link_200': assert o.component.bRepBodies.count == 1 uppers += 1 for b in o.component.bRepBodies: assert b.isSolid bodies += 1 housings += b.name == 'RS06_D90_L55_reference_housing' if o.component.name == 'D40_foot_ball_REFERENCE': c = b.physicalProperties.centerOfMass c.transformBy(o.transform2) xyz = [getattr(c, a) * 10 for a in 'xyz'] leg = ('F' if xyz[0] > 0 else 'R') + ('L' if xyz[1] > 0 else 'R') feet[leg] = xyz assert housings == p['motor']['count'] == 12 assert uppers == 4 and bodies == checks['body_count'] profiles=[o for o in d.rootComponent.occurrences if o.component.name.startswith(('Long_profile_', 'Lower_cross_profile_'))] assert len(profiles)==6 and all(o.component.bRepBodies.count==1 for o in profiles) assert not any(o.component.name=='Pocketed_A6061_body_frames' for o in d.rootComponent.occurrences) for o in profiles: name=o.component.name if name.startswith('Long_profile_'): side,level=map(int,name.removeprefix('Long_profile_').split('_')) expected_center=[0,side*(145 if level>0 else 125),checks['haa_height_mm']+level*55] else:expected_center=[float(name.removeprefix('Lower_cross_profile_')),0,checks['haa_height_mm']-55] actual=o.transform2.translation assert max(abs(getattr(actual,a)*10-expected_center[i]) for i,a in enumerate('xyz'))<1e-6 tray=next(o.component for o in d.rootComponent.occurrences if o.component.name=='P2S_PETG_battery_tray') assert tray.bRepBodies.count==1 assert set(feet) == set(expected) error = max(abs(feet[l][i] - expected[l][i]) for l in feet for i in range(3)) assert error < 1e-6 # Eight intentional overlaps: four belts and two tooth-envelope pulleys each. collisions = checks['standing_interferences'] assert len(collisions) == 8 assert all('600S5M250_belt_PITCH_PATH_not_teeth' in c['two'] and c['one'].startswith('S5M_belt_drive_40T_600_25 / ') for c in collisions) masses = {} for kind, density in [('aluminum', 2.70), ('PETG', 1.27), ('steel', 7.85)]: volume = sum(b['volume_mm3'] for b in checks['body_records'] if b['kind'] == kind) masses[kind] = {'volume_mm3': volume, 'assumed_density_g_cm3': density, 'mass_kg': volume * density / 1e6} motor_mass = housings * p['motor']['catalog_mass_g'] / 1000 profile_mass=(4*340+2*230)/1000*p['frame']['profile_linear_mass_kg_m'] subtotal = motor_mass + profile_mass + sum(m['mass_kg'] for m in masses.values()) frame_components={'Chassis_motor_end_plates_5mm','Lower_crossmember_flat_gussets_3mm','Upper_X_braces_2mm','Upper_brace_spacers_2mm'} frame_aluminum=sum(b['volume_mm3'] for b in checks['body_records'] if b['component'] in frame_components)*2.7e-6 frame_hardware=sum(b['volume_mm3'] for b in checks['body_records'] if b['component']=='Chassis_fasteners_and_Tnuts')*7.85e-6 tray_mass=tray.bRepBodies.item(0).volume*1.27/1000 printed=[] for o in d.rootComponent.occurrences: c=o.component if c.name not in ['PETG_upper_link_200','C_diagonal_lower_link_195','Replaceable_PETG_foot_cup','P2S_PETG_battery_tray']:continue b=c.bRepBodies.item(0);bb=b.boundingBox size=[(getattr(bb.maxPoint,a)-getattr(bb.minPoint,a))*10 for a in 'xyz'] assert all(v<256 for v in size) printed.append({'component':c.name,'size_mm':size,'volume_mm3':b.volume*1000}) assert len(printed)==13 chassis_records=[b for b in checks['body_records'] if b['component']=='Chassis_fasteners_and_Tnuts'] assert sum('HAA_stator_M3x8' in b['body'] for b in chassis_records)==32 assert sum('Profile_end_M5x16' in b['body'] for b in chassis_records)==8 assert sum('HNTT5_5_seating_proxy' in b['body'] for b in chassis_records)==20 assert sum('_thread_free_reference' in b['body'] for b in chassis_records)==60 old_checks=json.loads((HERE.parent/'rs06_concept/cad/cad_checks.json').read_text()) original={(b['component'],b['body']):b for b in old_checks['body_records'] if b['component']!='Pocketed_A6061_body_frames'} current={(b['component'],b['body']):b for b in checks['body_records']} for key,before in original.items(): after=current[key] assert abs(before['volume_mm3']-after['volume_mm3'])<1e-4 assert max(abs(before['bounds_mm'][j][k]-after['bounds_mm'][j][k]) for j in range(2) for k in range(3))<1e-5 assert len(original)==167 geometry=[] for o in d.rootComponent.occurrences: for b in o.component.bRepBodies:geometry.append((o.component.name,b.name,b.createForAssemblyContext(o))) sets={'profiles':[r for r in geometry if r[0].startswith(('Long_profile','Lower_cross_profile'))], 'motors':[r for r in geometry if r[1]=='RS06_D90_L55_reference_housing'], 'belts':[r for r in geometry if 'belt_PITCH_PATH' in r[1]], 'plates':[r for r in geometry if r[0]=='Chassis_motor_end_plates_5mm'], 'arms':[r for r in geometry if r[0].endswith('_abduction_carrier_arm')], 'upper':[r for r in geometry if r[0]=='PETG_upper_link_200']} clearances={} for g,h in [('profiles','motors'),('profiles','belts'),('plates','arms'),('plates','upper')]: value=min(ac.Application.get().measureManager.measureMinimumDistance(a[2],b[2]).value*10 for a in sets[g] for b in sets[h]) assert value>.99 clearances[g+'_to_'+h]=value report = { 'checked_on': '2026-10-28', 'revision': p['revision'], 'scope': 'current nominal pose native solids, placement, source identity and partial mass arithmetic', 'result': 'pass within stated scope', 'native_bodies': bodies, 'motor_housings': housings, 'connected_upper_links': uppers, 'timeline_healthy': healthy, 'foot_centers_mm': feet, 'profiles': {'count':6,'longitudinal_length_mm':340,'cross_length_mm':230,'total_cut_length_m':1.82,'catalog_mass_kg':profile_mass}, 'chassis_fasteners': {'M3x8':32,'button_M5x16':8,'M5x8':14,'M5x10':2,'M5x12':4,'Tnut_proxies':20,'top_brace_washers':4}, 'unchanged_r01_bodies_by_volume_and_world_bounds':len(original), 'nominal_pose_minimum_clearances_mm':clearances, 'printed_part_bounds_P2S':printed, 'frame_mass_comparison':{'r01_body_without_frame_fasteners_kg':1.6986502542571693, 'r02_profiles_plus_metal_plates_braces_gussets_kg':profile_mass+frame_aluminum, 'r02_added_frame_fastener_proxies_kg':frame_hardware, 'r02_body_including_fasteners_kg':profile_mass+frame_aluminum+frame_hardware, 'r02_new_printed_tray_kg':tray_mass, 'scope':'catalog profile mass plus CAD reference volumes; actual fastener and profile weights must be confirmed; r01 omitted frame hardware'}, 'max_foot_center_difference_from_kinematics_mm': error, 'unexpected_positive_volume_interferences': 0, 'intentional_belt_tooth_envelope_interferences': len(collisions), 'mass_estimate': {'motor_catalog_mass_kg': motor_mass, 'modeled_materials': masses, 'profile_catalog_mass_kg':profile_mass,'partial_subtotal_kg': subtotal, 'excluded': ['pulleys and belts', 'bearings', 'foot elastomer', 'battery and electronics', 'wiring', 'unmodeled fasteners'], 'basis': 'solid CAD volumes at assumed densities; not a measured mass or complete BOM'}, 'not_verified': ['joint motion clearance', 'strength and stiffness', 'belt preload and capacity', 'fastener fits and torque transmission', 'thermal duty', 'physical operation'], 'source_sha256': {n: hashlib.sha256((HERE / n).read_bytes()).hexdigest() for n in ['verify_cad.py', 'fusion_build.py', 'parameters.json', 'cad/cad_checks.json', 'cad/shappy_rs06_r02.step', 'cad/shappy_rs06_r02.f3d', 'viewer/scene.json', '../rs06_concept/analysis.json', '../rs06_concept/parameters.json','../rs06_concept/cad/cad_checks.json']}, } (HERE / 'cad/verification.json').write_text(json.dumps(report, indent=2) + '\n') print(json.dumps({k: report[k] for k in ['result', 'native_bodies', 'motor_housings', 'max_foot_center_difference_from_kinematics_mm']})) print('Partial solid-model mass subtotal kg:', subtotal)