cadop / fusion360descriptor

A URDF Exporter for Fusion 360

Hi there 👋

fusion360descriptor's Issues

Fusion 360 error popup when pressing Cancel on file explorer when choosing save directory

Here the "Set save directory" option is pressed, and then in File Explorer the cancel button is pressed.

As a result, this error pops up

Using isVisible

For some reason the bodies are all exporting even when they are not visible. It seems like the top level component can use the isLightBulbOn https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-90B68AA9-EADE-4597-8201-1371CCA96E38 but that doesn't consider if its visible in the scene. IsVisible cares about visibility https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-bc2399ce-a9b0-4247-9779-e4aae936abad

I can't remember why we did this and not isVisible I think it might have been because we turned off the lightbulb at some point, and was then just checking if it was on as well?

STL exporter should be upgraded.

• Option 1. Normal version. Current output method with a single mesh file.

• Option 2. Detail version. Separate meshes with each component, Export meshes by every component, and put it XML as visual attributes.
  EX)
  

  fusion360descriptor/FullBody_description/urdf/FullBody.urdf

  Lines 1 to 44 in 9e69bd0

  	<?xml version="1.0" ?>
  	<robot name="FullBody">
  	<material name="silver">
  	<color rgba="0.700 0.700 0.700 1.000"/>
  	</material>
  	<material name="red">
  	<color rgba="1.0 0.0 0.0 1.000"/>
  	</material>
  	<link name="L_Pelvisv12_1">
  	<inertial>
  	<origin xyz="-0.00016823298939081687 0.07887151231400673 -0.22549351371810145" rpy="0 0 0"/>
  	<mass value="12.545724119282553"/>
  	<inertia ixx="0.05811" iyy="0.10775" izz="0.13684" ixy="0.000156" iyz="0.005835" ixz="-4.7e-05"/>
  	</inertial>
  	<visual>
  	<origin xyz="0 0 0" rpy="0 0 0"/>
  	<geometry>
  	<mesh filename="package://meshes/L_Pelvisv12_1.stl" scale="0.001 0.001 0.001"/>
  	</geometry>
  	<material name="silver"/>
  	</visual>
  	<visual>
  	<origin xyz="0 0 0" rpy="0 0 0"/>
  	<geometry>
  	<mesh filename="package://meshes/L_Pelvisv12_1.stl" scale="0.001 0.001 0.001"/>
  	</geometry>
  	<material name="silver"/>
  	</visual>
  	<visual>
  	<origin xyz="0 0 0.01" rpy="0 0 0"/>
  	<geometry>
  	<mesh filename="package://meshes/L_Pelvisv12_1.stl" scale="0.001 0.001 0.001"/>
  	</geometry>
  	<material name="red"/>
  	</visual>
  	<collision>
  	<origin xyz="0 0 0" rpy="0 0 0"/>
  	<geometry>
  	<mesh filename="package://meshes/L_Pelvisv12_1.stl" scale="0.001 0.001 0.001"/>
  	</geometry>
  	</collision>
  	</link>

So multiple visual and collision attributes are ok. And we should not forget to put color info like this way at just below of robot name.

• Option 3. Simplified version. Mathew did this job on another project. So we need to merge this after exporting STL files with normal version and make convex hull STL.

Maybe option 4. Simplified with a detailed version. If we separate mesh with components then it could be better to build convex hulls.
I am not sure if this makes the simulator slower or not. So this might need some test.

"nut" in nut & bolt configuration does not show in physics simulator (cylindrical joint)

These images shows the "nut and bolt" model where the nut is on the bolt with a cylindrical joint and is able to move up and down while rotating on the bolt.

This is the same model but in the physics simulator (pybullet). The bolt is displayed but the nut on it is not created/displayed in the simulator.

URDF does not generate properly when there is a component defined within another component in the Fusion 360 hierarchy

If there is a component within a component, get_flat_body() will not populate body_list with the bodies from that specific component that houses other bodies and the component.

For example, here is a hierarchy with components only having bodies within:

These are the bodies that are generated in body_list:

Then here is another hierarchy with a component within another component:

These are the bodies that are generated in body_list:

It is shown here that the bodies from the component that houses another component do not appear.

This is the URDF generated, no visual elements present

Planar Joint is not supported

This is what the planar joint model looks like in Fusion 360:

This is error that occurs from running the script with the planar joint.

As-Built Joint (gear) does not work as intended in physics simulator

The rod in the gear appears to "fall over" as there is no gear generated in the simulator to support it.

This is what the model should look like (displayed in Fusion 360)

This is the model in the physics simulator (pybullet), appears to be a rod that starts standing up and then falls over. No gear shown and only one rod in the simulator, however there should be two gears and two rods as shown in the first image.

fix comments to adhere to PEP 8 python style

Need to lock joint limits when joint is locked

Make sure that the joints will not move the components they are attached to if it is locked, not sure if problem, will test. If this is a problem:

if joint.isLocked:
     joint_dict['upper_limit'] = joint_angle
     joint_dict['lower_limit'] = joint_angle

or something along these lines

Add Joints for usd export

For omniverse in future.

file:///C:/Users/local%20user/AppData/Local/ov/pkg/create-2022.1.3/kit/extsPhysics/omni.physx.ui-1.4.13-5.1/docs/main/source/extensions/omni.physx/docs/index.html#joints

urdf exporter works well

I found that this parameter(document unit cm, and target unit m) is working very well for joints and inertia info. I don't know why but it might be default output of fusion might be cm. I checked it with another project. Could I share this with some people in the lab for more cases?

"Failed to read Python Script" error message occurs in VSCode debug console when trying to debug Descriptor.py

There seems to be some sort of issue (possibly on just my end), when the script is launched through Fusion 360 by pressing "Edit", I can't debug the Descriptor.py file.

This is the error message in the Debug Console:

I can debug the other Fusion 360 sample scripts such as Bolt.py and Bottle.py, however VSCode says it can't read this python script. I've uninstalled and reinstalled the Python extensions to have the correct versions by using Fusion 360 to install what's needed.
(The steps I've taken are in comment 17 of this autodesk forum post, part B: https://forums.autodesk.com/t5/fusion-360-api-and-scripts/not-able-to-debug-scripts-add-ins-in-visual-studio-code/td-p/9174815 )

However, issue persists.

Slider joint does not work.

There is an error when exporting urdf with slider joints.
Sliderjoint does not have rotationAxisVector as a property.

Include joint angle set through joint

Current we ignore the joint angle being set by the joint (maybe?)

Cannot switch between parent/child easily

Currently it is extremely difficult to switch or change the link configuration. For example, if we put the ground joint in the middle and then switch to the end, the parent/child relationship is wrong for all of these joints. We should make either a tool or some checkbox that gets generated for each joint that can be set to switch them.

component 1 (joint_order) doesn't work

The first case had a problem with the joint order. UI's component 1 doesn't work. review is working well. So if the robot model joint in fusion has component1 as a child link then always works. So UI doesn't make a different result.
Could you check it? I found the comment about it. https://github.com/cadop/fusion360xml/blob/c63b5ddf8c9fb6e408efd490b80aa9175c6da2a1/Descriptor/core/parser.py#L276

the step by step guide category is in the readme, but the tutorial is in getting started

Should we move the tutorial to the readme and keep the rest in the getting started (faq, etc)?

Pin Slot Joint does not work as intended in Pybullet physics simulator

This is what the model looks like in Fusion 360 (pinslot joint)

This is what is displayed in pybullet physics simulator:

The inner part of the model is not shown in pybullet.

Inertia function does not work as intended

The get_flat_bodies() function does not append any bodies to the body list, so the mass function _inertia does not work

Component will not be written in the URDF file unless there is a joint attached to it.

There has to be a joint connected/attached to a component otherwise it will not be generated in the URDF. The .stl file is still generated

This issue is likely caused by the second half of the _build_links() function from for k, joint... onwards

DH parameter friendly joint position option

https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

The joint position is taken as the control point of numerous algorithms. And those algorithms have some function or parameters to put some offset from joint position to the control point. But many robotics people utilize DH parameter joint position decision because we learn this at lectures or in textbooks. And even DH does not guarantee a unique solution. Because the revolute joint can be placed at any point of the actuator axis. But this is quite a good feature for convenience. The joint position will be the same as with the instinctive point of the student who learns and solves the DH-parameter at school.

But this is not much matter stuff for now.

UI loses reference to buttons

When changing between units or setting the directory, the UI maintains its reference. However, when using the preview button, it seems that the UI is lost, and after it calculates the joint configuration, changing any of the other dropdowns does not get registered.

I suspect it could be a handler issue. The other possibility is that something is reloading the autodesk core which ends up overwriting its callbacks to the UI we implemented. At the moment not sure how to debug this as the program already terminates early from the callback.

Duplicate component names cause problems in mesh files

When I use the same file for the same robot as a link, stl meshes are just overwritten. so in this case we need to warn about it or make some additional file name.

ball joint is not supported by URDF

URDF does not support ball joints
Hack can be created by creating fake bodies in place with a hinge joint for each axis of the ball joint

This is an image of the ball joint model in Fusion 360.

Error displayed when pressing on "Preview Links" button in the UI. Nothing happens when pressing on "Preview"

Error displayed when pressing on "Generate" button in the UI.

README should be updated to show features

Currently readme is not very convincing of how easy it is to use the project. We should have some GIF showing the GUI and such.

"connect ECONNREFUSED 127.0.0.1:9000" error message pops in VSCode when trying to debug

error message: connect ECONNREFUSED 127.0.0.1:9000

Fix: (taken from https://forums.autodesk.com/t5/fusion-360-api-and-scripts/not-able-to-debug-scripts-add-ins-in-visual-studio-code/td-p/9174815 comment 17)

Clean install of python extensions using Fusion 360

1. Close Fusion 360
2. Uninstall python extensions from vs code
3. Close vs code
4. Go to '%homepath%.vscode\extensions'
5. Clear any ms-python extension directories like ms-python.python-2019.###
6. Delete .obsolete file
7. Start fusion
8. Go to addins and debug any sample addin script.
9. You should able to debug it successfully.

Missing demo scene

There should be a demo scene for us to internally test and people to try out.

Perhaps it should also include different ways fusion can construct the joints so we can test particular issues?

Scale documentation images

The images in the getting started are different sizes, making it hard to read.