syuntoku14 / fusion2urdf

A Fusion 360 Script to export URDF

Hi there 👋

I am a Ph.D. student at The University of Tokyo in Japan (2022-). Check my website for more info.

selected projects

fusion2urdf's Issues

Not support parallel link robot

I have been waiting for this add-ins feature for a long long time. That wouldn't make any sense if I have to manually create URDF from CAD design. There are so many hands-on measurement work for filling into URDF description. The similar add-in feature on SolidWorks is so broken and buggy.

I appreciated your great work on my favorite CAD software!

However I faced the issue. The robot I am trying to build is a robotic architect lamp, having 4 linkage mechanism.

After looking into the script, it seems not supporting multiple parent links for now.

3d format used

Hi,

I was wondering if it could be possible to export the geometry in usdz format instead of STL, in order to keep a better appearance.

Many thanks

joint_dict['child'] = re.sub('[ :()]', '_', joint.occurrenceOne.name)

Failed:
Traceback (most recent call last):
File "C:/Users/Marko/AppData/Roaming/Autodesk/Autodesk Fusion 360/API/Scripts/URDF_Exporter/URDF_Exporter.py", line 59, in run
joints_dict, msg = Joint.make_joints_dict(root, msg)
File "C:\Users/Marko/AppData/Roaming/Autodesk/Autodesk Fusion 360/API/Scripts/URDF_Exporter\core\Joint.py", line 176, in make_joints_dict
joint_dict['child'] = re.sub('[ :()]', '_', joint.occurrenceOne.name)
AttributeError: 'NoneType' object has no attribute 'name'

error with base_link

my fusion 360 has a version number after the component name, and I cannot delete it. does it matter? or how can I solve this problem?

link origin have some offset,

when the model spawn in Rviz , when we click tf the origin of joints are not where they suppose to be?
i want to attached a wheel on chassis but position of joint origin appears above the centre

fail base_link

I use rover 5 model from grabcad and rename base_link, add joint correctly in according to your istruction...but same error happen.. "There is no base_link. Please set base_link and run again" ...but it is present...

Error while converting fusion 360 to URDF, please help

Nested component support

Thank you syuntoku14! Your repo indeed helps me a lot!

I finished the nested component support a few weeks ago. But since

1. I'm a PyBullet user, I only pick up part of the changes in the commit of @alansrobotlab and I removed the Gazebo elements.
2. This is a large changes that might have some conflict with your code.

I don't have much time to work on a new pull request for this update.

I post an issue here s.t. anyone might be interested in get this module work can refer to my PyBullet adaptive version repo and pull request here. https://github.com/yanshil/Fusion2PyBullet

The forked repo with developing history which is more clear to be used a reference: https://github.com/yanshil/fusion2urdf/commits/nest-support (only missing fixed of "Do not Capture Design History" in this version)

Key update for nested component support is : yanshil@1ca8c0a
and
yanshil/Fusion2PyBullet@0a26b9a

error with connection between link

however i try i could not make the joint to work in my model i am facing this error for 5 days please help me

Controller Spawner couldn't find the expected controller_manager ROS interface

[WARN] [1647201164.026832, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
I using ROS Noetic
I check for "rosservice list | grep controller_manager" and got
/controller_manager/list_controller_types
/controller_manager/list_controllers
/controller_manager/load_controller
/controller_manager/reload_controller_libraries
/controller_manager/switch_controller
/controller_manager/unload_controller

Maybe something wrong about namespace. I don't know what to do.

Getting a mess of missing parts.

coach@linus:~/catkin_ws/src/fusion2urdf/little_piggy$ roslaunch urdf_tutorial display.launch model:=model.urdf
... logging to /home/coach/.ros/log/88c67970-3802-11ea-aa5a-00232451a876/roslaunch-linus-17934.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro.py is deprecated; please use xacro instead
started roslaunch server http://linus:34011/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_gui: True

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [17947]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 88c67970-3802-11ea-aa5a-00232451a876
process[rosout-1]: started with pid [17958]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [17964]
process[robot_state_publisher-3]: started with pid [17966]
process[rviz-4]: started with pid [17967]
[ WARN] [1579139413.298593808]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ WARN] [1579139413.300790694]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[rospack] Error: package 'fusion2urdf' not found
[librospack]: error while executing command
[ERROR] [1579139413.933615606]: Could not load resource [package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl]: Unable to open file "package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl".
[ WARN] [1579139413.933804509]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.933923838]: Could not load model 'package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl' for link 'back_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.934005783]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.934070748]: Could not load model 'package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl' for link 'back_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.934143919]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.934202735]: Could not load model 'package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl' for link 'back_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.934266247]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.934324456]: Could not load model 'package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl' for link 'back_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[rospack] Error: package 'fusion2urdf' not found
[librospack]: error while executing command
[ERROR] [1579139413.951705293]: Could not load resource [package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl]: Unable to open file "package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl".
[ WARN] [1579139413.951875321]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.951959106]: Could not load model 'package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl' for link 'back_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.952054041]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.952123473]: Could not load model 'package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl' for link 'back_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.952200431]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.952276035]: Could not load model 'package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl' for link 'back_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.952354214]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.952421778]: Could not load model 'package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl' for link 'back_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/back_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[rospack] Error: package 'fusion2urdf' not found
[librospack]: error while executing command
[ERROR] [1579139413.966994221]: Could not load resource [package://fusion2urdf/model/bin_stl/base_link_m-binary.stl]: Unable to open file "package://fusion2urdf/model/bin_stl/base_link_m-binary.stl".
[ WARN] [1579139413.967194970]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.967285206]: Could not load model 'package://fusion2urdf/model/bin_stl/base_link_m-binary.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.967380509]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.967465264]: Could not load model 'package://fusion2urdf/model/bin_stl/base_link_m-binary.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.967551733]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.967633338]: Could not load model 'package://fusion2urdf/model/bin_stl/base_link_m-binary.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.967754848]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.967884823]: Could not load model 'package://fusion2urdf/model/bin_stl/base_link_m-binary.stl' for link 'base_link': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/base_link_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[rospack] Error: package 'fusion2urdf' not found
[librospack]: error while executing command
[ERROR] [1579139413.982271996]: Could not load resource [package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl]: Unable to open file "package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl".
[ WARN] [1579139413.982431458]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.982516740]: Could not load model 'package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl' for link 'front_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.982613951]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.982697587]: Could not load model 'package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl' for link 'front_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.982785311]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.982861657]: Could not load model 'package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl' for link 'front_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.982935582]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.982993046]: Could not load model 'package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl' for link 'front_left_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_left_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[rospack] Error: package 'fusion2urdf' not found
[librospack]: error while executing command
[ERROR] [1579139413.996019664]: Could not load resource [package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl]: Unable to open file "package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl".
[ WARN] [1579139413.996189841]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.996274941]: Could not load model 'package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl' for link 'front_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.996361560]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.996434409]: Could not load model 'package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl' for link 'front_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.996504562]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.996565252]: Could not load model 'package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl' for link 'front_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139413.996649235]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139413.996719121]: Could not load model 'package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl' for link 'front_right_wheel_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/front_right_wheel_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[rospack] Error: package 'fusion2urdf' not found
[librospack]: error while executing command
[ERROR] [1579139414.010843182]: Could not load resource [package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl]: Unable to open file "package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl".
[ WARN] [1579139414.011011938]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.011093398]: Could not load model 'package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl' for link 'left_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139414.011190651]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.011267082]: Could not load model 'package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl' for link 'left_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139414.011359673]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.011440838]: Could not load model 'package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl' for link 'left_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139414.011527155]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.011609466]: Could not load model 'package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl' for link 'left_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/left_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[rospack] Error: package 'fusion2urdf' not found
[librospack]: error while executing command
[ERROR] [1579139414.024554624]: Could not load resource [package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl]: Unable to open file "package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl".
[ WARN] [1579139414.024753606]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.024841548]: Could not load model 'package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl' for link 'right_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139414.024934086]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.025017734]: Could not load model 'package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl' for link 'right_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139414.025099050]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.025181800]: Could not load model 'package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl' for link 'right_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1579139414.025266605]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1579139414.025341745]: Could not load model 'package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl' for link 'right_steering_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://fusion2urdf/model/bin_stl/right_steering_1_m-binary.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

Joint Types other than revolute

Hi,

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

Thank you :)

KeyError: Component2_1

I am trying to export my bipedal robot to URDF but I am getting the following error. I have attached the Joint2Graphviz result which seems fine to me and my fusion assembly. Please help.

Joint2Graphviz_Biped.txt
Biped Assembly.zip

Scripts/URDF_Exporter\core\Joint.py", line 172, in make_joints_dict if joint.occurrenceTwo.component.name == 'base_link': AttributeError: 'NoneType' object has no attribute 'component'

KeyError:'base_link_1'

Hello.. Any help, please??
Link is correctly renamed, as base_link

Thanks

Issues with ROS (neodic Ubuntu 20.4) when I try to launch the display.launch

Hi
I try with the robot in the description. I have the URDF files provide by Fusion 360 and the script.
However, when I try in ROS. I have this error :

I try the other launch file, same error.
Thank in adavance for the help.
Best

RuntimeError

Thanks for your job to help us to transform the fusion CAD into the urdf. But I encounter a runtime error when I was using the script to transform a quadruped robot CAD to urdf. The detail error information could be viewed below.

Hope you have some clues for me to solve the problem. Thanks!

Error

Dear Syuntoku,
I am receiving an error can you help me out in fusion.

Index error: the index (-1) is out of range

Hello, strange error..
Any idea?
Thanks friends
Vincent

My first using & trial and errors. (for gazebo-ros-control)

Dear syuntoku14

Thanks for creating this tool.
It's fantastic & great & amazing !

I tried it for the first time. (Ubuntu 18.04, and ROS melodic) (2021/1/31)
And maybe If I use this for gazebo-ros-control without errors , I need to modified the extracted files.

For gazebo-ros-control

example project name: -> quadrobot

1. In launch/controller.yaml file, at line 1
   ( NG ) quadrobot_controller:
   ( OK ) quadrobot:

2. In urdf/quadrobot.gazebo file, at line 6-8, modify
   ( OK )

  <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/quadrobot</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>

--> Atrtention, the end of line.
  ...trol"/>     ->  ...trol"> 
(delete character "/" )

and maybe this ? (gazebo updating)

      <legacyModeNS>true</legacyModeNS>

Ref:
https://qiita.com/srs/items/8868a8bef3752c3464a2

2019年の春当たりのアップデート以降では、ここでとの2つを入れる必要があります。

So, when I attached this 2 modify, I can did the rostopic message to /quadrobot/joint00_position_controller/command & got moving the joints.

ex) rostopic pub -1 /quadrobot/joint00_position_controller/command std_msgs/Float64 "data: -1.7"

Tutorial of gazebo-ros-control

http://gazebosim.org/tutorials/?tut=ros_control

And my tips

I am not familiar with ROS & gazebo.
I sometimes faced a problem.
(with japanese)

Unnecessary joints

NG "delete" 「除去」
OK "remove" 「削除」

(If I didn't, maybe appears this error.)
->AttributeError: 'NoneType' object has no attribute 'name'.

https://twitter.com/devemin/status/1355521766479650816?s=20

Joint pattern

NG "As-built joint"「位置固定ジョイント」
OK "Joint"「ジョイント」（オプションで回転、剛性）

NG "Rigid Group"
OK "Joint"「ジョイント」（オプションで剛性）

gazebo name rules

1st character, not alphamerics.
and not use "-"
etc...
https://twitter.com/devemin/status/1355203294453399553?s=20

gazebo playing button

If execute the gazebo, I shuold put the "play" button lol.
(or In gazebo.launch, change the "paused" -> "false" )

Japanese strings

I replaced the japanese strings with text editors. (after extract the files)

Nice qiita blog

Fusion360で描いたロボットモデルをROSのURDF形式に変換する
https://qiita.com/ackermanrf128/items/cab9d1983435ece9e000

And again greatful thanks!!!!!!!!!!!

同じところで引っかかる方がいなければ良いなと思い、勝手に色々備忘録のような形で書かせて頂きました。
素敵なツールを本当にありがとうございます！

devemin
https://twitter.com/devemin

controller.launch fail

when start controller.launch error appear and not work...
[WARN] [1604524631.011983, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

I've designed a rover and need to implement a diff_drive for four wheel rover...otherwise standard controller generated report previous error..

Does the exporter support rigid groups?

I have a very complex quadruped model, whose urdf is needed. But the model contains some rigid groups where a rigid joint can not be created. Does this exporter support rigid groups?

AttributeError

I keep getting this error :

and i have this structure for my robot :

What's the issue ?

'NoneType' object has no attribute 'component'

After chosen the folder which to save in, this error message shows up:

It seems not causing by 'base_link' issues, here is my components set (ignore the ground component, where I did unground before running the script):

Links/joints with offsets on latest Fusion360's version

Hello, I've been using this script for months and has worked great until some days ago after a Fusion360 update. I took the URDF files of a robot that worked fine, generated them again and now its links have big offsets and joints have origins really close to 0. When loading this into RViz I can see the robot in the starting position as it should but when joints are moved, they all just spin around the map center. Is there any way to fix it? Any help is appreciated.

tf error

Hi i converted it to urdf and when checking rviz, this happens , I changed the orientation of my base link in fusion as it wasnt 90 degrees to world . Is that the problem?

There is no base_link. Please set base_link and run again.

error with connection between components

I have 2 errors:
1st error between components, I tried to solve it, but nothing helped

2nd error: "traceback (most recent call last)"

I don't know what should i do to solve problems. Please help me

if joint.occurrenceTwo.component.name == 'base_link': AttributeError

Error-
Failed:
Traceback (most recent call last):
File "C:/Users/rukshan/AppData/Roaming/Autodesk/Autodesk Fusion 360/API/Scripts/URDF_Exporter/URDF_Exporter.py", line 59, in run
joints_dict, msg = Joint.make_joints_dict(root, msg)
File "C:/Users/rukshan/AppData/Roaming/Autodesk/Autodesk Fusion 360/API/Scripts/URDF_Exporter\core\Joint.py", line 172, in make_joints_dict
if joint.occurrenceTwo.component.name == 'base_link':
AttributeError: 'NoneType' object has no attribute 'component'

File "C:/Users/ashfa/AppData/Roaming/Autodesk/Autodesk Fusion 360/API/Scripts/URDF_Exporter\core\Joint.py", line 176, in make_joints_dict joint_dict['child'] = re.sub('[ :()]', '_', joint.occurrenceOne.name) AttributeError: 'NoneType' object has no attribute 'name'

I am new to ROS and fusion 360. Can anyone explain why I am having this error?

pybullet export

Hi Toshinori,

warmest greetings from Germany. I've started to use your fusion360 URDF exporter on pybullet. Here, I have stumbled over the obstacle that it seems to export in a ROS compliant way. As I believe the output format is specifically designed for ROS: are you interested in providing a pybullet compatible export way as well? I'm getting myself into python just now and I haven't programmed for over a decade.

Thanks and greets,

Rüdiger

How to set base_link

I have been trying to run the repo on the sample provided, but I always end up getting the error set base_link. I have renamed the base link as mentioned in the example, but in vain. Can someone please tell me what exactly should I do to set the base_link? new to both fusion and urdf.

ROS: link 'part' is not unique.

I just exported my model to URDF. I made no modifications to the entire folder that it exported but when I do this:
catkin_make
source devel/setup.bash
roslaunch urdf_description display.launch

It gives me this:

auto-starting new master
process[master]: started with pid [10409]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e18b03b2-70e2-11ec-bfbe-6fb4c5786c98
process[rosout-1]: started with pid [10419]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [10422]
process[robot_state_publisher-3]: started with pid [10427]
process[rviz-4]: started with pid [10428]
[ERROR] [1641688030.198076933]: link 'BL_Dual_Motor_Mount_1' is not unique.
[robot_state_publisher-3] process has died [pid 10427, exit code 1, cmd /opt/ros/noetic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/krishna/.ros/log/e18b03b2-70e2-11ec-bfbe-6fb4c5786c98/robot_state_publisher-3.log].
log file: /home/krishna/.ros/log/e18b03b2-70e2-11ec-bfbe-6fb4c5786c98/robot_state_publisher-3*.log
[ERROR] [1641688030.634928152]: link 'BL_Dual_Motor_Mount_1' is not unique.

BL_Dual_Motor_Mount_1 is the part. I checked the main .xacro file and indeed, there are 2 copies of each parts' link. I compared its contents and the origin was different. If I comment out 1 of the parts, this error goes away but another one for a different part appears. Why is it making duplicates? Is this a model issue or a script issue?

Then I tried running the gazebo launch and it gave me this:

setting /run_id to 3aa4dcb0-70e4-11ec-bfbe-6fb4c5786c98
process[rosout-1]: started with pid [10956]
started core service [/rosout]
process[spawn_urdf-2]: started with pid [10959]
process[gazebo-3]: started with pid [10963]
process[gazebo_gui-4]: started with pid [10969]
[ INFO] [1641688609.720169761]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641688609.721285673]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641688609.820866858]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641688609.822126267]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641688610.111645532]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1641688610.132856637]: Physics dynamic reconfigure ready.
Error [parser_urdf.cc:3183] Unable to call parseURDF on robot model
Error [parser.cc:488] parse as old deprecated model file failed.

To get all the files, visit my Github repo: [HERE](https://github.com/Project-Zeta-v2/Project-Zeta/tree/main/CAD/URDF/zeta_urdf_description

Please let me know if you need any other information to solve or reproduce this issue.

Converted Binary STL is tiny!

This used to work but something changed and now the converted STL file is tiny! Something that was modeled to be 73 inches long is now 0.07m.

Cheers,

Mass Properties

I dont know if this is a feature that should be implemented or not. Everything working great btw!

When I create my links they don't seem to carry their mass properties with them? (interia CoM etc)

Any thoughts?

<link name="base_link"/>
	<joint name="set_worldaxis" type="fixed">
		<origin rpy="1.570796326795 0 0" xyz="0.0 0.0 0.0"/>
		<parent link="base_link"/>
		<child link="base"/>
		<axis xyz="0 0 0"/>
		<limit effort="0" lower="-1" upper="1" velocity="0"/>
	</joint>
	<link name="base">
		<inertial>
			<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
			<mass value="0"/>
			<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
		</inertial>
		<visual>
			<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
			<geometry>
				<mesh filename="package://robot_description2/meshes/base.stl"/>
			</geometry>
			<material name="">
				<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
			</material>

Intertial and collisions problem

Exporter works. Having hard time getting the Intertial and collisions to compute/display properly in gazebo.
Any suggestions on this?

Model rotated in Rviz and Gazebo

First of all thank you very much on such helpful repository!

Everything works well, but whenever i spawn my robot in Rviz or Gazebo, the model is rolled 90 degrees. In gazebo, that can be corrected by selecting the object (robot), but i am unable to do the same in Rviz. could you please help me with that?

Error while running urdf_exporter

could you help:

Usability Improvements (auto-link breaking and renaming)

Hey there!

Thanks a lot for your script, it is incredibly useful to me!

Just two remarks to speed up the workflow:

1. As all references of the components need to be broken this costs a lot of time when reexporting arms. As far as I can see breaking the links from Python should be simple enough? (https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-7f7547c0-702d-11e7-8712-6c0b84aa5a3f)
2. The requirement for "no spaces in component names" could probably also be automated away? It also eats up a lot of time removing all these v123 from names like "xxxx v123"

I'll pick up this issue myself if I happen to get more time for OS work in the future, for now Im just dumping my ideas here, sorry for that!

Small inertia values for meshes

• There needs to be a minimum cut-off value for the inertia of the meshes, below which everything is assigned the same value to avoid problems when working with real-time controllers.
• Value can be set as 1e-4.

offset in teleoperation

so, whenever i export a robot model and try using it with key_teleop , the key bindings are flipped by an offset of 90 degree.
forward key goes left , left goes back, etc
Is this issue common to all or it's just some minor mistak i am making while modelling the robot.

There is no base_link. Please set base_link and run again.

I'm trying to export a fusion file to URDF, but it's throwing this error. "There is no base_link. Please set base_link and run again." I'm not able to understand how to troubleshoot this

.

material.xacro incorrect

material generated on xacro are only silver... I added material on my fusion 360 model but the generated xacro are only silver...

Traceback error while making urdf

Im facing this error whenever I'm making a urdf, I'm new to urdf making with fusion 360, help would be appreciated

Failed:
Traceback (most recent call last):
File "C:/Users/Admin/AppData/Roaming/Autodesk/Autodesk Fusion 360/API/Scripts/URDF_Exporter/URDF_Exporter.py", line 59, in run
joints_dict, msg = Joint.make_joints_dict(root, msg)
File "C:\Users/Admin/AppData/Roaming/Autodesk/Autodesk Fusion 360/API/Scripts/URDF_Exporter\core\Joint.py", line 172, in make_joints_dict
if joint.occurrenceTwo.component.name == 'base_link':
AttributeError: 'NoneType' object has no attribute 'component'

running script failed

Hi,

I'm getting an error trying to use the script:

I get first the "missing bas_link" error, so I renamed the root part to base link, but after running the script another time, I get this message.

Any Hint?

Many Thanks

Consider add support to pyBullet.

Joint Order

Can you please explain the correct attachment order for the revolute joints

assuming I assign the 6 axes in an articulated robotic arm

I need to define each joint from the sixth axis to the first axis,? And I need to join the sixth axis component to the wrist first, with the first arm to the base last?

Problem with the Joint origin

Hi
I have the right model on Gazebo but the Joint are wrong. They are in the wrong place.
Is this problem came from Fusion 360 with the links ?
Or what is the solution to fix this ?

Thanks in advance

Simple example?

Hello Toshinori, I'm hoping you can help. I've been able to get this all up and running, and I've successfully exported the complex Industrial Robot Arm into rviz. However, I cannot seem to create a jointed model in Fusion 360 that will display properly in rviz or gazebo.

The model is very simple, but no matter what I do I can't get additional components to appear in rviz. Can you please offer some advice? Maybe some steps to create a very simple model as a starting point? I'm starting small before building out my robot arm in Fusion 360, so I wanted to get something simple working first. I hope you can help. Thank you!

there seems to be an error between [component] and [other component]

what does this mean?
this is what my model component tree looks like: