I have two blog posts on driving revolute joints of a model:
Drive robot arm in Fusion and Drive robot arm in Fusion – update
However, in those cases you have to select the joints you want to drive and use the keyboard.
If you prefer driving all the revolute joints’ rotation values through a slider, then here is a sample script you could use.
This also takes limits into consideration.
Python script code:
#Author-
#Description-
import adsk.core, adsk.fusion, adsk.cam, math, traceback
# Global variable used to maintain a reference to all event handlers.
handlers = []
# Other global variables
joints = None
commandName = "DriveJoints"
app = adsk.core.Application.get()
if app:
ui = app.userInterface
# Event handler for the inputChanged event.
class MyInputChangedHandler(adsk.core.InputChangedEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
eventArgs = adsk.core.InputChangedEventArgs.cast(args)
commandInput = eventArgs.input
# Event handler for the executePreview event.
class MyExecutePreviewHandler(adsk.core.CommandEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
eventArgs = adsk.core.CommandEventArgs.cast(args)
inputs = eventArgs.command.commandInputs
for i in inputs:
joint = joints.itemByName(i.name)
rot = i.valueOne
motion = joint.jointMotion
motion.rotationValue = rot
# Make it accept the changes whatever happens
eventArgs.isValidResult = True
class MyCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
try:
command = adsk.core.Command.cast(args.command)
# Subscribe to the various command events
onInputChanged = MyInputChangedHandler()
command.inputChanged.add(onInputChanged)
handlers.append(onInputChanged)
onExecutePreview = MyExecutePreviewHandler()
command.executePreview.add(onExecutePreview)
handlers.append(onExecutePreview)
onDestroy = MyCommandDestroyHandler()
command.destroy.add(onDestroy)
handlers.append(onDestroy)
inputs = command.commandInputs
for joint in joints:
if joint.jointMotion.objectType == adsk.fusion.RevoluteJointMotion.classType():
minRot = 0
maxRot = math.pi * 2
limits = joint.jointMotion.rotationLimits
if (limits.isMinimumValueEnabled and limits.isMaximumValueEnabled):
minRot = limits.minimumValue
maxRot = limits.maximumValue
rev = inputs.addFloatSliderCommandInput(
commandName + joint.name,
joint.name,
'rad',
minRot,
maxRot,
False)
rev.valueOne = joint.jointMotion.rotationValue
command.isAutoExecute = True
except:
ui.messageBox('Failed:n{}'.format(traceback.format_exc()))
class MyCommandDestroyHandler(adsk.core.CommandEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
try:
commandDefinitions = ui.commandDefinitions
# Check the command exists or not
cmdDef = commandDefinitions.itemById(commandName)
if cmdDef:
cmdDef.deleteMe
# When the command is done, terminate the script
# this will release all globals which will remove all event handlers
adsk.terminate()
except:
ui.messageBox('Failed:n{}'.format(traceback.format_exc()))
def run(context):
try:
product = app.activeProduct
design = adsk.fusion.Design.cast(product)
if not design:
ui.messageBox('It is not supported in current workspace, please change to MODEL workspace and try again.')
return
global joints
joints = design.rootComponent.joints
commandDefinitions = ui.commandDefinitions
# Check the command exists or not
cmdDef = commandDefinitions.itemById(commandName)
if not cmdDef:
cmdDef = commandDefinitions.addButtonDefinition(
commandName, commandName, commandName, '')
# Subscribe to events
onCommandCreated = MyCommandCreatedHandler()
cmdDef.commandCreated.add(onCommandCreated)
# Keep the handler referenced beyond this function
handlers.append(onCommandCreated)
# Run the command
inputs = adsk.core.NamedValues.create()
cmdDef.execute(inputs)
# Prevent this module from being terminated when the script returns,
# because we are waiting for event handlers to fire
adsk.autoTerminate(False)
except:
ui.messageBox('Failed:n{}'.format(traceback.format_exc()))-Adam
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