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Fusion Descriptor

Important Credits

This a modified version of the fusion2urdf (https://github.com/syuntoku14/fusion2urdf) and fusion2pybullet (https://github.com/yanshil/Fusion2PyBullet) repositories. Many thanks for these authors and their communities building out the tools and showing what was possible.


Why Another?

This project was developed to solve some internal problems with our robot configuration and exporting. Between the stated end of development for the original repo and the priorities of the pybullet version, we felt it was best to make our own version and rewrite most of the fusion-side code. Naturally, we also wanted to understand the fusion API better, so this was a nice project to get started.


Overview

This project aims to help export link configurations and mechanical descriptions to XML (e.g. URDF) formats (and ideally, other formats as well in the future), from Autodesk Fusion.

It provides a simple GUI for running the script and choosing a few different settings.


Features

  • GUI interface for settings
  • Uses the grounded base as root node, that organizes the URDF tree by joint/link distance from root.
  • Handles rigid groups, coordinate transforms between origins, nested assemblies, etc
  • Allows switching between units
  • WYSIWYG stl exporting (exports model as you see on the screen) without needing to save design history or copy to a new file
  • Preview joint relationship before exporting
  • Export only URDF without Mesh (for fast viewing)
  • Can export component bodies separately as a visual element of URDF and a combined component as the collision
  • Can load export configuration from a Yaml file to speed up configuring the export.
  • Additional advanced options can be specified in the Yaml file, such as automatically mapping component and/or joint names to custom names in URDF. This is helpful to e.g. keep the URDF names constant as the Fusion design is updated, so that ROS configuration/code does not have to be changed.

drawing


License

This project is licensed under the MIT License.

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A URDF Exporter for Fusion 360

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