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fix python >= 3.9，ModuleNotFoundError: No module named 'distutils' #89

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fix python >= 3.9，ModuleNotFoundError: No module named 'distutils' #89

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123 changes: 88 additions & 35 deletions URDF_Exporter/utils/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,29 +4,54 @@

@author: syuntoku
"""

import sys
import adsk, adsk.core, adsk.fusion
import os.path, re
from xml.etree import ElementTree
from xml.dom import minidom
from distutils.dir_util import copy_tree
# from distutils.dir_util import copy_tree
# from shutil import copytree as copy_tree
import fileinput
import sys

def copy_occs(root):
"""
import shutil
import os


def copy_tree(src, dst):
# 如果目标目录不存在，创建目标目录
if not os.path.exists(dst):
os.makedirs(dst)

# 遍历源目录中的文件和文件夹
for item in os.listdir(src):
s = os.path.join(src, item)
d = os.path.join(dst, item)
if os.path.isdir(s):
# 递归复制子目录
copy_tree(s, d)
else:
# 复制文件
shutil.copy2(s, d)


# 使用示例
# copy_tree('source_folder', 'destination_folder')


def copy_occs(root):
"""
duplicate all the components
"""
"""
def copy_body(allOccs, occs):
"""
"""
copy the old occs to new component
"""

bodies = occs.bRepBodies
transform = adsk.core.Matrix3D.create()

# Create new components from occs
# This support even when a component has some occses.
# This support even when a component has some occses.

new_occs = allOccs.addNewComponent(transform) # this create new occs
if occs.component.name == 'base_link':
Expand All @@ -38,7 +63,7 @@ def copy_body(allOccs, occs):
for i in range(bodies.count):
body = bodies.item(i)
body.copyToComponent(new_occs)

allOccs = root.occurrences
oldOccs = []
coppy_list = [occs for occs in allOccs]
Expand All @@ -51,33 +76,33 @@ def copy_body(allOccs, occs):
occs.component.name = 'old_component'


def export_stl(design, save_dir, components):
def export_stl(design, save_dir, components):
"""
export stl files into "sace_dir/"


Parameters
----------
design: adsk.fusion.Design.cast(product)
save_dir: str
directory path to save
components: design.allComponents
"""

# create a single exportManager instance
exportMgr = design.exportManager
# get the script location
try: os.mkdir(save_dir + '/meshes')
except: pass
scriptDir = save_dir + '/meshes'
scriptDir = save_dir + '/meshes'
# export the occurrence one by one in the component to a specified file
for component in components:
allOccus = component.allOccurrences
for occ in allOccus:
if 'old_component' not in occ.component.name:
try:
print(occ.component.name)
fileName = scriptDir + "/" + occ.component.name
fileName = scriptDir + "/" + occ.component.name
# create stl exportOptions
stlExportOptions = exportMgr.createSTLExportOptions(occ, fileName)
stlExportOptions.sendToPrintUtility = False
Expand All @@ -87,16 +112,16 @@ def export_stl(design, save_dir, components):
exportMgr.execute(stlExportOptions)
except:
print('Component ' + occ.component.name + 'has something wrong.')


def file_dialog(ui):

def file_dialog(ui):
"""
display the dialog to save the file
"""
# Set styles of folder dialog.
folderDlg = ui.createFolderDialog()
folderDlg.title = 'Fusion Folder Dialog'
folderDlg.title = 'Fusion Folder Dialog'

# Show folder dialog
dlgResult = folderDlg.showDialog()
if dlgResult == adsk.core.DialogResults.DialogOK:
Expand All @@ -106,16 +131,16 @@ def file_dialog(ui):

def origin2center_of_mass(inertia, center_of_mass, mass):
"""
convert the moment of the inertia about the world coordinate into
convert the moment of the inertia about the world coordinate into
that about center of mass coordinate


Parameters
----------
moment of inertia about the world coordinate: [xx, yy, zz, xy, yz, xz]
center_of_mass: [x, y, z]


Returns
----------
moment of inertia about center of mass : [xx, yy, zz, xy, yz, xz]
Expand All @@ -134,8 +159,8 @@ def prettify(elem):
Parameters
----------
elem : xml.etree.ElementTree.Element


Returns
----------
pretified xml : str
Expand All @@ -144,19 +169,48 @@ def prettify(elem):
reparsed = minidom.parseString(rough_string)
return reparsed.toprettyxml(indent=" ")

def copy_package(save_dir, package_dir):
def create_package(package_name, save_dir, package_dir):
try: os.mkdir(save_dir + '/launch')
except: pass
except: pass

try: os.mkdir(save_dir + '/urdf')
except: pass
except: pass

try: os.mkdir(save_dir + '/config')
except: pass

try: os.mkdir(save_dir + '/' +package_name)
except: pass
with open(os.path.join(save_dir, package_name, '__init__.py'), 'w'):
pass

try: os.mkdir(save_dir + '/resource')
except: pass
with open(os.path.join(save_dir, 'resource', package_name), 'w'):
pass

try: os.mkdir(save_dir + '/test')
except: pass

copy_tree(package_dir, save_dir)

def update_cmakelists(save_dir, package_name):
file_name = save_dir + '/CMakeLists.txt'
def update_setup_py(save_dir, package_name):
file_name = save_dir + '/setup.py'

for line in fileinput.input(file_name, inplace=True):
if "package_name = 'fusion2urdf_ros2'" in line:
sys.stdout.write("package_name = '" + package_name + "'\n")
else:
sys.stdout.write(line)

def update_setup_cfg(save_dir, package_name):
file_name = save_dir + '/setup.cfg'

for line in fileinput.input(file_name, inplace=True):
if 'project(fusion2urdf)' in line:
sys.stdout.write("project(" + package_name + ")\n")
if "script-dir" in line:
sys.stdout.write("script-dir=$base/lib/" + package_name + "\n")
elif "install-scripts" in line:
sys.stdout.write("install-scripts=$base/lib/" + package_name + "\n")
else:
sys.stdout.write(line)

Expand All @@ -165,9 +219,8 @@ def update_package_xml(save_dir, package_name):

for line in fileinput.input(file_name, inplace=True):
if '<name>' in line:
sys.stdout.write(" <name>" + package_name + "</name>\n")
sys.stdout.write("<name>" + package_name + "</name>\n")
elif '<description>' in line:
sys.stdout.write("<description>The " + package_name + " package</description>\n")
else:
sys.stdout.write(line)