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fusion2urdf

I forked this repo from syuntoku14 who did a super work. During the usage of the original package some restriction hit me quite hard. I decided to add some new features to the package like handling nested components and colors.

Hope you enjoy the new features!

This repo only supports Gazebo, if you are using pybullet, see: https://github.com/yanshil/Fusion2PyBullet.

Updated!!!

  • 2021/10/13: Version 1.2

    • Made the color and material detection more robust
    • Added ROS 2 launchfile generator
    • Dialog Popup to choose between ROS 1 and ROS 2

  • 2021/03/09: version 1.1

    • Fix FusionAPI Change

  • 2021/01/23: Version 1.0

    • This version can handle now nested components
    • The bodies and components which should be exported can be choosen via the light bulbs in Fusion 360
    • Joints with disabled light bulb will be ignored and not exported to the urdf file
    • Hopefully final bugfix of the joint coordinates calculation
    • Reading out the color of the component and set it in the material file
    • All changes are done in a temporary file, so no backup of your design file is necessary (but it is still a good idea) This means that also linked components can be used
    • Added two example Fusion 360 files, which can be found in the Example folder

  • 2021/01/09: Fix xyz calculation.

  • 2020/11/10: README fix

    • MacOS Installation command fixed in README
    • Date format unified in README to yyyy/dd/mm
    • Shifted Installation Upwards for better User Experience and easier to find

  • 2020/01/04: Multiple updates:

    • no longer a need to run a bash script to convert stls
    • some cleanup around joint and transmission generation
    • defines a sample material tag instead of defining a material in each link
    • fusion2urdf now generates a self-contained ROS {robot_name}_description package
    • now launched by roslaunch {robot_name}_description display.launch
    • changed fusion2urdf output from urdf to xacro for more flexibility
    • separate out material, transmissions, gazebo elements to separate files

  • 2018/20/10: Fixed functions to generate launch files

  • 2018/25/09: Supports joint types "Rigid", "Slider" & Supports the joints' limit(for "Revolute" and "Slider").

  • 2018/19/09: Fixed the bugs about the center of the mass and the inertia.

Installation

Run the following command in your shell.

Windows (In PowerShell)
cd <path to fusion2urdf>
Copy-Item ".\URDF_Exporter\" -Destination "${env:APPDATA}\Autodesk\Autodesk Fusion 360\API\Scripts\" -Recurse
macOS (In bash or zsh)
cd <path to fusion2urdf>
cp -r ./URDF_Exporter "$HOME/Library/Application Support/Autodesk/Autodesk Fusion 360/API/Scripts/"

What is this script?

This is a fusion 360 script to export urdf from fusion 360 directly.

This exports:

  • .urdf file of your model
  • .launch and .yaml files to simulate your robot on gazebo
  • .stl files of your model

Sample

The following test model doesn't stand upright because the z axis is not upright in default fusion 360. Make sure z axis is upright in your fusion 360 model if you want.

original model

industrial_robot

Gazebo simulation of exported .urdf and .launch

  • center of mass

center_of_mass

  • collision

collision

  • inertia

inertia

Before using this script

Before using this script, make sure that your model has all the "links" as components. You have to define the links by creating corresiponding components. For example, this model(https://grabcad.com/library/spotmini-robot-1) is not supported unless you define the "base_link".

In addition to that, you should be careful when define your joints. The parent links should be set as Component2 when you define the joint, not as Component1. For example, if you define the "base_link" as Component1 when you define the joints, an error saying "KeyError: base_link__1" will show up.

spot_mini

Also, make sure components of your model has only bodies. Nested components are not supported. For example, this works: only_bodies

but this doesn't work since the "face (3):1" component contains other components. A component must contain only bodies: With the new version this should also work:

nest_components

Nested components are exported as a single stl file. Therefore only joints on the root level will be taken into calculation!

Joints in nested components and on lower levels will be ignored. Only components and bodies with activated light bulb will be exported, components and bodies with deactivated light bulb will be ignored and not exported!

Joints which has a deactivated child component will be ignored. Deactivating the base_link will cause problems! Joints with deactivated light bulbs will not be exported!

Components connected through disabled joints will not be shown in RVIZ.

You can use asBuildJoints, but they will also ignored!

asBuildJoint

Colors which are defined on the root level components will be read out and taken over into the material definition of the urdf file.

color

Sometimes this script exports abnormal urdf without any error messages. In that case, the joints should have problems. Redefine the joints and run again.

In addition to that, make sure that this script currently supports only "Rigid", "Slider" and "Revolute".

How to use

As an example, I'll export a urdf file from this cool fusion360 robot-arm model(https://grabcad.com/library/industrial-robot-10). This was created by sanket patil

Install in Shell

Run the installation command in your shell.

Run in Fusion 360

Click ADD-INS in fusion 360, then choose fusion2urdf.

This script will change your model. So before run it, copy your model to backup.

Run the script and wait a few seconds(or a few minutes). Then a folder dialog will show up. Choose where you want to save the urdf (A folder "Desktop/test" is chosen in this example"). Maybe some error will occur when you run the script. Fix them according to the instruction. In this case, something wrong with joint "Rev 7". Probably it can be solved by just redefining the joint.

error

You must define the base component. Rename the base component as "base_link".

cautions

In the above image, base_link is gounded. Right click it and click "Unground".

Now you can run the script. Let's run the script. Choose the folder to save and wait a few second. You will see many "old_component" the components field but please ignore them. The script will generate a folder with the name of your Fusion design in lower case to meet the ROS naming requirements concated with "description" You have successfully exported the urdf file. Also, you got stl files in "Desktop/test_description/meshes" repository. This will be required at the next step. The existing fusion CAD file is no more needed. You can delete it.

The folder "Desktop/test_description" will be required in the next step. Move them into your ros environment.

In your ROS environment

Place the generated _description package directory in your own ROS workspace. "catkin_ws" is used in this example. Then, run catkin_make in catkin_ws.

cd ~/catkin_ws/
catkin_make
source devel/setup.bash

Now you can see your robot in rviz. You can see it by the following command.

roslaunch (whatever your robot_name is (lowercases))_description display.launch

rviz

If you want to simulate your robot on gazebo, just run

roslaunch (whatever your robot_name is(lowercase))_description gazebo.launch

Gazebo was not tested by me!

Enjoy your Fusion 360 and ROS life!