Fusion 360 To URDF

Name: Fusion 360 To URDF
Rating: 4.6 (18 reviews)

Method To Convert CAD Model To URDF

Created byHrithik Verma

Last updated 8/2022

English

What you'll learn

Clear URDF understanding with help of examples
Correct ways to convert fusion 360 model to urdf
Error related to fusion_2_urdf plugin as well methods to solve them
Methods to set up joint alignment correctly
Methods to assign proper weights in fusion to generate accurate inertia tag
In optional part, students will learn to correct urdf errors and visualize it in rviz
In optional part, students will learn to color the robot test its motion in gazebo

Course content

3 sections • 23 lectures • 2h 30m total length

0.1 What Is URDF?17:44
URDF, the XML-based unified robot description format, defines multi-body robots with links, joints, origin and axes, plus geometry, mass, and visual data for accurate modeling.
0.2 URDF Example 16:48
This lecture explains a URDF example 1, illustrating how XML tags define robot structure with base link, link objects, and a prismatic joint, including origins, offsets, and axis orientation.
0.3 URDF Example 26:42
The lecture demonstrates exporting URDF from Fusion 360 using a plugin to build a three-link robot with visual, collision, and inertial properties, including mass, inertia, and joint axes.
Quiz Related To URDF

Quick Tips0:21
1.1 installing fusion2urdf plugin in fusion 3602:58
Revise Concepts0:22
1.2 Design Assembly Format To Use Plugin6:35
Learn to assemble a differential robot design in Fusion 360 for URDF export by naming the base link, avoiding nested components, and setting all joints to zero.
Quiz related to design assembly
1.3 Component From Bodies11:01
Create a component that contains only bodies by copying and merging bodies into one, saving it as a copy (baselink or link), and avoiding nested components.
1.4 Method To Set Joint Alignment At Zero Degree7:06
1.5 Naming Convention5:56
Discover why naming conventions matter in Fusion 360 to URDF, and how to name components, joints, and carriers with direction to keep scripts and URDF readable.
1.6 Assembling Autonomous Mobile Robot15:21
Assemble a robot body in Vision 360, name the base link, break and rename components, align left and right wheels, set joints with zero offset, exporting to URDF.
1.7 Assigning Weight9:35
Learn how to assign weight to links in Fusion 360, using physical materials or density-based calculations, to automatically generate inertia values for the plugin.
1.8 Setting Robot Axis As Per ROS URDF Convention4:32
Align the robot axes to ros urdf convention with the right-hand rule, rotate base link 90 degrees so x is forward and y is left, center origin for plugin calculations.
1.9 Export Robot URDF Using fusion2urdf plugin6:24
Export your robot urdf using the fusion2urdf plugin after completing checks. Ensure proper naming conventions, zeroed joint configurations, correct axes, and carrier material before exporting to avoid errors.
1.10 Visualizing Exported Robot URDF1:24
Explore visualizing the exported robot URDF, switching visual and collision tags to verify links, joints, and properties are correctly represented in the main body of the model.
1.11 Errors While Exporting URDF3:59
Identify and fix common URDF export errors in Fusion 360, such as missing base link name, nested components, and joint rotation or zero position offsets that disrupt visuals and collisions.
1.12 Visualizing Error 32:19
Quiz Related To Errors

2.1 Building Robot URDF ROS Pakage4:32
Set up a robot URDF ROS package inside a workspace and prepare a simulation workspace for testing. Use launch files and joint state publisher to visualize joints and verify limits.
2.2 Correcting Errors In URDF6:29
2.3 Launching Robot Gazebo Simulation12:30
Learn to launch a robot Gazebo simulation with ROS launch, spawn the model in an empty world, tune YAML PID values for joints, and troubleshoot controller and namespace issues.
2.4 Coloring Robot Parts3:10
Color your Gazebo robot model by defining materials and LGB values, assigning colors to each link (base, carrier, left, right, body), and previewing the result in Gazebo.
2.5 Moving Robot Using Teleop ROS Package8:02
Using the Gazebo plugin and teleop ROS package, this lecture guides configuring left and right motor joints, measuring wheel diameter and distance, and tuning the command topic to drive forward.
2.6 Correcting Robot Motion6:52
Debug robot motion by checking wheel contact in the wireframe, center of mass, and collisions; then increase the control value and test motors to achieve smoother, straight movement.

Requirements

Fusion 360 need to pre-installed in laptop/pc
Basic Knowledge of 3d modeling and joint assembly in fusion 360
[optional part] ROS need to be setup properly in Ubuntu (Linux Operating System)
[optional part] basic knowledge of ROS (Robotics Operating System)

Description

Overview :

In this course, you will learn about urdf (unified robot description format) with help of examples and correct method to convert a fusion 360 CAD model to urdf using opensource fusion 360 plugins. You will learn to set correct assembly format to export robot model to urdf and also about some good practices like method to name model components, setting up robot axis as per ros urdf conversions. As well as you will understand the errors related to fusion2urdf plugin and their solution.

This course is divided into 2 parts:

Fusion 360 model to URDF: You will learn to convert Fusion 360 model to urdf and stuff related to 3d model components, assembly joints etc.
URDF ROS [Optional Parts]: These parts will be option and will be for those who fulfill the prerequisites. This part covers urdf ros related stuff.

Course Flow :

This course has used a practical approach of explanation.
In this course will use different kind of robot model to explain the concepts.
And throughout this course will use an AMR [autonomous mobile robot] and assemble it components in fusion 360 than assign mass to components and export it urdf model.
In the optional part, we will build exported robot package in ros than will correct errors in urdf and visualize it in rviz.
At the end will spawn the robot in gazebo simulator and will test robot motion using teleop ros package.

What You Will Learn :

Understanding of URDF.
Understanding of assembly format in Fusion to export urdf.
Creating Component from bodies such that no nested component is created.
Methods to set joint alignments to zeros.
Learnt about good practices to generated good urdf files.
Assembly robot component without violating fusion2urdf plugin guidelines.
Method to solve errors while exporting urdf.
Method to assign weight and its importance in urdf inertia tag.
[Optional part] build urdf ros pakages.
[Optional part] correct error related to controller_manager ros interface while launch gazebo.
[Optional part] correcting joint motion direction errors in urdf and visualizing it in rviz.
[Option part] testing robot motion in gazebo as well correcting errors in it.

Who this course is for:

Anyone who want to convert CAD model to urdf
Anyone who want to learn about Robotics & URDF

Fusion 360 To URDF

What you'll learn

Explore related topics

Course content

0. Understanding URDF3 lectures • 31min

1. Fusion 360 CAD Model To URDF14 lectures • 1hr 18min

2. [Optional] Building Export URDF ROS Packages & Testing It in Gazebo Simulator6 lectures • 42min

Requirements

Description

Who this course is for: