Protocol Documentation

Basic information (name, Author, etc)

All of the data in the assembly

Can it be effected by the simulation dynamically

Overall physical data of the assembly

The Design hierarchy represented by Part Refs - The first object is a root container for all top level items

The Joint hierarchy for compound shapes

The Transform in space currently

Optional thumbnail saved from Fusion 360 or scraped from previous configuration

Meshes and Design Objects

Joint Definition Set

Appearance and Physical Material Set

Contains table of all signals with ID reference

BEWARE of ENDIANESS

Reference to Part Definition

Triangle Mesh for rendering

Override Visual Appearance for the body

Tri Mesh Verts vec3

Tri Mesh Normals vec3

Tri Mesh uv Mapping vec2

Tri Mesh indicies (Vert Map)

Information about version - id - name

Physical data associated with Part

Base Transform applied - Most Likely Identity Matrix

Mesh Bodies to populate part

Optional value to state whether an object is a dynamic object in a static assembly - all children are also considered overriden

Optional value for overriding the friction value 0-1

Optional value for overriding an indiviaul object's mass

Reference to the Part Definition defined in Assembly Data

Overriding the object transform (moves the part from the def) - in design hierarchy context

Position transform from a global scope

Joints that interact with this element

Appearance Reference to link to `Materials->Appearance->Info->id`

Physical Material Reference to link to `Materials->PhysicalMaterial->Info->id`

Flag that if enabled indicates we should skip generating a collider, defaults to FALSE or undefined

Part name, version, GUID

Map of the Exported Part Definitions

Map of the Exported Parts that make up the object

other associated data that can be used end effector, wheel, etc

Is this object a Plane ? (Does it have volume)

Rendered Appearance properties referenced from Assembly Data

Stored as true types, inidicies, verts, uv

Stored as binary data in bytes

A list of degrees of freedom that the joint can contain

In case you want to name this degree of freedom

Axis the degree of freedom is pivoting by

Direction the axis vector is offset from - this has an incorrect naming scheme

Dynamic properties of this joint pivot

Limits of this freedom

Current value of the DOF

Damping effect on a given joint motion

Friction effect on a given joint motion

Joint name, ID, version, etc

Transform relative to the parent

type of motion described by the joint

At what effort does it come apart at. - leave blank if it doesn't

ONEOF rotational joint

ONEOF prismatic joint

ONEOF custom joint

Additional information someone can query or store relative to your joint.

Motor definition reference to lookup in joints collection

Joint name, ID, version, etc

Is this joint the end effector in the tree ? - might remove this

Object that contains the joint - the ID - Part usually

Object that is affected by the joint - the ID - Part usually

Reference to the Joint Definition

Offset from Joint Definition Origin

Part Instances all contained and affected by this joint directly - tree

Reference to the Signals as Drivers - use for signal_map in Assembly Data

Motion Links to other joints - ways to preserve motion between dynamic objects

name, version, uid

Unique Joint Implementations

Instances of the Joint Implementations

Rigidgroups ?

Collection of all Motors exported

Lower Limit corresponds to default displacement

Upper Limit is the joint extent

Velocity Max in m/s^2 (angular for rotational)

Effort is the absolute force a joint can apply for a given instant - ROS has a great article on it http://wiki.ros.org/pr2_controller_manager/safety_limits

The Joint that this is linked to

Ratio of motion between joint 1 and joint 2, we assume this is in mm for linear and deg for rotational

Reverse the relationship - turn in the same or opposite directions - useful when moving axis arent both the same way.

this could be the full path of the occurrence in order to make it easier to assembly them possibly - just parse on the unity side

Lower software limit

Upper Software limit

Relation between position and velocity limit

Relation between effort and velocity limit

Identfiable information (id, name, version)

albedo map RGBA 0-255

roughness value 0-1

metallic value 0-1

specular value 0-1

Identifiable information (id, name, version)

Map of Physical Materials

Map of Appearances that are purely visual

Identifiable information (id, name, version, etc)

short description of physical material

Thermal Physical properties of the model OPTIONAL

Mechanical properties of the model OPTIONAL

Physical Strength properties of the model OPTIONAL

Frictional force for dampening - Interpolate (0-1)

Frictional force override at stop - Interpolate (0-1)

Restitution of the object - Interpolate (0-1)

should this object deform when encountering large forces - TODO: This needs a proper message and equation field

generic type to assign some default params

naming scheme changes here / GPa

?

MPa

g/cm^3

?

MPa

MPa

yes / no

W/(m*K)

J/(g*C)

um/(m*C)

Reference for purchase page or spec sheet

m-Nm/Amp

mV/rad/sec

Resistance of Motor - Optional if other values are known

measure in percentage of 100 - generally around 60 - measured under optimal load

measured in Watts

Stated Duty Cycle of motor

Optional data that can give a better relationship to the simulation

measured in AMPs

measured in RPM

measure in AMPs

measured in Nm

measured in Volts DC

between (K * (N / 4)) and (K * ((N-2) / 4)) where N is number of poles - leave at 0 if unknown

Torque at 0 rpm with a inverse linear relationship to max_velocity

The target velocity in RPM, will use stall_torque relationship to reach each step

(Optional) 0 - 1, the relationship of stall_torque used to perserve the position of this motor

Has identifiable data (id, name, version)

Is this a Input or Output

The name of a custom input type that is not listed as a device type

ID for a given signal that exists... PWM 2, CANBUS 4

Enum for device type that should always be set

Has identifiable data (id, name, version)

Contains a full collection of symbols

red

green

blue

alpha

represents the root of each seperate assembly - most of the time 1 node

GUID unique value - must always be defined since guid's have exactly 128bits could be represented with bytes[] however endian becomes an issue

Generic readable name

Version of object iteration

the reference ID for whatever kind of graph this is

the children for the given leaf

other associated data that can be used

kg per cubic cm kg/(cm^3)

kg

cm^3

cm^2

non-negative? Vec3

Image Width

Image Height

Image Extension - ex. (.png, .bitmap, .jpeg)

Transparency - true from fusion when correctly configured

Data as read from the file in bytes[] form

flat map of 4x4 transform matrix [00][01][02][03][10][11][12][13][20][21][22][23]

e.g. data["wheel"] = "yes"