Yeah sure.
#################
#Author-syuntoku14
#Description-Generate URDF file from Fusion 360
import adsk, adsk.core, adsk.fusion, traceback
import os
import sys
from .utils import utils
from .core import Link, Joint, Write
"""
# length unit is 'cm' and inertial unit is 'kg/cm^2'
# If there is no 'body' in the root component, maybe the corrdinates are wrong.
"""
# joint effort: 100
# joint velocity: 100
# supports "Revolute", "Rigid" and "Slider" joint types
# I'm not sure how prismatic joint acts if there is no limit in fusion model
def run(context😞
ui = None
success_msg = 'Successfully create URDF file'
msg = success_msg
try:
# --------------------
# initialize
app = adsk.core.Application.get()
ui = app.userInterface
product = app.activeProduct
design = adsk.fusion.Design.cast(product)
title = 'Fusion2URDF'
if not design:
ui.messageBox('No active Fusion design', title)
return
root = design.rootComponent # root component
components = design.allComponents
# set the names
robot_name = root.name.split()[0]
package_name = robot_name + '_description'
save_dir = utils.file_dialog(ui)
if save_dir == False:
ui.messageBox('Fusion2URDF was canceled', title)
return 0
save_dir = save_dir + '/' + package_name
try: os.mkdir(save_dir)
except: pass
package_dir = os.path.abspath(os.path.dirname(__file__)) + '/package/'
# --------------------
# set dictionaries
# Generate joints_dict. All joints are related to root.
joints_dict, msg = Joint.make_joints_dict(root, msg)
if msg != success_msg:
ui.messageBox(msg, title)
return 0
# Generate inertial_dict
inertial_dict, msg = Link.make_inertial_dict(root, msg)
if msg != success_msg:
ui.messageBox(msg, title)
return 0
elif not 'base_link' in inertial_dict:
msg = 'There is no base_link. Please set base_link and run again.'
ui.messageBox(msg, title)
return 0
links_xyz_dict = {}
# --------------------
# Generate URDF
Write.write_urdf(joints_dict, links_xyz_dict, inertial_dict, package_name, robot_name, save_dir)
Write.write_materials_xacro(joints_dict, links_xyz_dict, inertial_dict, package_name, robot_name, save_dir)
Write.write_transmissions_xacro(joints_dict, links_xyz_dict, inertial_dict, package_name, robot_name, save_dir)
Write.write_gazebo_xacro(joints_dict, links_xyz_dict, inertial_dict, package_name, robot_name, save_dir)
Write.write_display_launch(package_name, robot_name, save_dir)
Write.write_gazebo_launch(package_name, robot_name, save_dir)
# copy over package files
utils.create_package(package_name, save_dir, package_dir)
utils.update_setup_py(save_dir, package_name)
utils.update_setup_cfg(save_dir, package_name)
utils.update_package_xml(save_dir, package_name)
# Generate STl files
utils.copy_occs(root)
utils.export_stl(design, save_dir, components)
ui.messageBox(msg, title)
except:
if ui:
ui.messageBox('Failed:\n{}'.format(traceback.format_exc()))
####################
I have also uploaded the zip which I had in the scripts folder under Fusion 360.
Thank you for your time
Fusion
