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syuntoku14 / fusion2urdf

A Fusion 360 Script to export URDF
MIT License
454 stars 151 forks source link

Joint Types other than revolute #6

Closed nyxaria closed 5 years ago

nyxaria commented 5 years ago

Hi,

Do you plan on adding other joint types than revolute? I am in need to using the linear/sliding joint type.

Thank you :)

syuntoku14 commented 5 years ago

Thank you for your request. Yes, I'm planning to add that features. Unfortunately, my school starts and I cannot make enough time. But I'll definitely do it.

The thing is that I don't have any proper fusion model which includes linear/sliding joint type. Can you give me some model for testing the add-in?

syuntoku14 commented 5 years ago

I added joint type "Rigid" and "Slider" to the branch "add_joint_type". Can you try this and tell me the feedback?

nyxaria commented 5 years ago

Hello, thank you for the quick feedback- I will test it and get back to you :) I am currently also at work, but I will try to do it as soon as possible

nyxaria commented 5 years ago

I prepared a simple model with the slider joint, but I am unable to export the model because of the following error: https://i.imgur.com/QPXZauz.png I took the courtesy to edit the source code to also print the joints_dict in the error popup for debugging purposes. Do you know why this is happening? I presume it is because of the name 'base_link:1' but am unsure as to how to resolve this, nor that there are instances of 'base_link_1' and 'base_link__1', note the double underscore in the second. The name of the two components are 'alum_tube_OD35mmL250mmT3mm' and 'base_link', yet both have ':1' after them in the tree view of the components, as can be seen in the screenshot. Thanks for your help! Edit: I was also wondering, is there a way to set the 'lower', 'upper', 'effort' and 'velocity' of each joint, or should do this manually in the urdf file? I can imagine this would require a lot of work to implement.

syuntoku14 commented 5 years ago

Sorry, I can't find any cause of the bugs from only this image. Can you redefine the joint and try again? If you still can't get things to work, can you share your model in some way?

In my case, joints "Rigid" and "Slider" are properly exported to urdf. slider screenshot from 2018-09-25 14-44-15

nyxaria commented 5 years ago

I have just remade my simple model, as you suggested-- and it works!

I have no idea why the previous version didn't, but regardless, thank you for the quick help! =)

You are awesome!

syuntoku14 commented 5 years ago

I found that the error you mentioned occurs when the parent link is set as joint "Component1". image Therefore, it works fine only if you set base_link as "Component2".