A Fusion 360 script to check the correctness of the assembled structure.
A valid assembled structure should has the following properties:
- base_link should be the only root node.
- Should be a DAG
-
Sometimes (Or saying it can get avoid of most errors) you need to set "Do not capture design history" before running the script.
-
Copy the content of the generated "graph.txt" and go to http://www.webgraphviz.com/
digraph G { "base_link" -> "Finger1link_0.0_v11" [ label = "Finger1" ]
"base_link" -> "Finger2link_0.0_v11" [ label = "Finger2" ]
"base_link" -> "Finger3link_0.0_v11" [ label = "Finger3" ]
"base_link" -> "link_12.0_right_v11" [ label = "InHand" ]
"link_12.0_right_v11" -> "Finger4link_0.0_v11" [ label = "Finger4" ]
"Finger1link_0.0_v11" -> "Finger1link_1.0_v11" [ label = "Finger1_Link1" ]
"Finger1link_1.0_v11" -> "Finger1link_2.0_v11" [ label = "Finger1_Link2" ]
"Finger1link_2.0_v11" -> "Finger1link_3.0_v11" [ label = "Finger1_link3" ]
"Finger2link_0.0_v11" -> "Finger2link_1.0_v11" [ label = "Finger2_Link1" ]
"Finger2link_1.0_v11" -> "Finger2link_2.0_v11" [ label = "Finger2_Link2" ]
"Finger2link_2.0_v11" -> "Finger2link_3.0_v11" [ label = "Finger2_link3" ]
"Finger3link_0.0_v11" -> "Finger3link_1.0_v11" [ label = "Finger3_Link1" ]
"Finger3link_1.0_v11" -> "Finger3link_2.0_v11" [ label = "Finger3_Link2" ]
"Finger3link_2.0_v11" -> "Finger3link_3.0_v11" [ label = "Finger3_link3" ]
"Finger4link_0.0_v11" -> "Finger4link_1.0_v11" [ label = "Finger4_Link1" ]
"Finger4link_1.0_v11" -> "Finger4link_2.0_v11" [ label = "Finger4_Link2" ]
"Finger4link_2.0_v11" -> "Finger4link_3.0_v11" [ label = "Finger4_link3" ]
}
digraph G { "R_BotPlate1" -> "R_MiddleCylinder1"
"R_MiddleCylinder1" -> "R_TopPlate1"
"R_TopPlate1" -> "base_link1"
"R_TopPlate1" -> "Wheel_set1Roller1"
"R_TopPlate1" -> "Wheel_set2Roller1"
"R_TopPlate1" -> "Wheel_set3Roller1"
"R_TopPlate1" -> "Wheel_set4Roller1"
"R_TopPlate1" -> "Wheel_set6Roller1"
"R_TopPlate1" -> "Wheel_set7Roller1"
"R_TopPlate1" -> "Wheel_set8Roller1"
"R_TopPlate1" -> "Wheel_set5Roller1"
"Wheel_set1Roller1" -> "Wheel_set1Satellite_Wheel1"
"Wheel_set2Roller1" -> "Wheel_set2Satellite_Wheel1"
"Wheel_set3Roller1" -> "Wheel_set3Satellite_Wheel1"
"Wheel_set4Roller1" -> "Wheel_set4Satellite_Wheel1"
"Wheel_set5Roller1" -> "Wheel_set5Satellite_Wheel1"
"Wheel_set6Roller1" -> "Wheel_set6Satellite_Wheel1"
"Wheel_set7Roller1" -> "Wheel_set7Satellite_Wheel1"
"Wheel_set8Roller1" -> "Wheel_set8Satellite_Wheel1"
}
Click Generate Graph and I get 
Here I can find out
- base_link is wrongly set as R_TopPlate's child
- R_MiddleCylinder should be R_TopPlate's child but it's set as parent
- R_BotPlate should be R_MiddleCylinder's child but it's set as parent.
digraph G { "base_link" -> "Wheel_Motor_holder_v41" [ label = "Rigid31" ]
"base_link" -> "Wheel_Motor_holder_v42" [ label = "Rigid32" ]
"base_link" -> "Wheel_Motor_holder_v43" [ label = "Rigid33" ]
"base_link" -> "Wheel_Motor_holder_v44" [ label = "Rigid34" ]
"base_link" -> "Side_board1" [ label = "Rigid35" ]
"base_link" -> "Side_board2" [ label = "Rigid36" ]
"base_link" -> "Gear_Pan_Base1" [ label = "Rigid37" ]
"Gear_Pan_Base1" -> "carboat_bot1" [ label = "Rigid38" ]
"Gear_Pan_Base1" -> "carboat_21" [ label = "Rigid39" ]
"Servo11" -> "carboat_31" [ label = "Neck_servo" ]
"carboat_31" -> "Servo21" [ label = "Rigid42" ]
"carboat_21" -> "motor_support1" [ label = "Rigid43" ]
"motor_support1" -> "Servo11" [ label = "Rigid44" ]
"Servo21" -> "Gear_Pan_Neck1" [ label = "Top_servo" ]
"Gear_Pan_Neck1" -> "Camera_support1" [ label = "Rigid46" ]
"Camera_support1" -> "D3541" [ label = "Rigid47" ]
"Wheel_Motor_holder_v41" -> "Wheel_Motor1" [ label = "Rigid48" ]
"Wheel_Motor_holder_v42" -> "Wheel_Motor2" [ label = "Rigid49" ]
"Wheel_Motor_holder_v43" -> "Wheel_Motor3" [ label = "Rigid50" ]
"Wheel_Motor_holder_v44" -> "Wheel_Motor4" [ label = "Rigid51" ]
"Wheel_Motor1" -> "Right1Top_Base_r1" [ label = "RB_wheel" ]
"Wheel_Motor2" -> "Left1Top_Base1" [ label = "RF_wheel" ]
"Wheel_Motor4" -> "Left2Top_Base1" [ label = "LB_wheel" ]
"Wheel_Motor3" -> "Right2Top_Base_r1" [ label = "LF_wheel" ]
"Right1Plate_bot_r1" -> "Right1Middle_Cylinder_r1" [ label = "Right1_Rigid1" ]
"Right1Middle_Cylinder_r1" -> "Right1Plate_top_r1" [ label = "Right1_Rigid2" ]
"Right1Plate_top_r1" -> "Right1Top_Base_r1" [ label = "Right1_Rigid3" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r1Roller1" [ label = "Right1_Rigid4" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r2Roller1" [ label = "Right1_Rigid6" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r3Roller1" [ label = "Right1_Rigid7" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r4Roller1" [ label = "Right1_Rigid8" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r6Roller1" [ label = "Right1_Rigid9" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r7Roller1" [ label = "Right1_Rigid10" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r8Roller1" [ label = "Right1_Rigid11" ]
"Right1Plate_top_r1" -> "Right1Wheel_sets_r5Roller1" [ label = "Right1_Rigid12" ]
"Right1Wheel_sets_r1Roller1" -> "Right1Wheel_sets_r1Satellite_Wheel1" [ label = "Right1Wheel_sets_r1_Rev5" ]
"Right1Wheel_sets_r2Roller1" -> "Right1Wheel_sets_r2Satellite_Wheel1" [ label = "Right1Wheel_sets_r2_Rev5" ]
"Right1Wheel_sets_r3Roller1" -> "Right1Wheel_sets_r3Satellite_Wheel1" [ label = "Right1Wheel_sets_r3_Rev5" ]
"Right1Wheel_sets_r4Roller1" -> "Right1Wheel_sets_r4Satellite_Wheel1" [ label = "Right1Wheel_sets_r4_Rev5" ]
"Right1Wheel_sets_r5Roller1" -> "Right1Wheel_sets_r5Satellite_Wheel1" [ label = "Right1Wheel_sets_r5_Rev5" ]
"Right1Wheel_sets_r6Roller1" -> "Right1Wheel_sets_r6Satellite_Wheel1" [ label = "Right1Wheel_sets_r6_Rev5" ]
"Right1Wheel_sets_r7Roller1" -> "Right1Wheel_sets_r7Satellite_Wheel1" [ label = "Right1Wheel_sets_r7_Rev5" ]
"Right1Wheel_sets_r8Roller1" -> "Right1Wheel_sets_r8Satellite_Wheel1" [ label = "Right1Wheel_sets_r8_Rev5" ]
"Left1Plate_bot1" -> "Left1Middle_Cylinder1" [ label = "Left1_Rigid1" ]
"Left1Middle_Cylinder1" -> "Left1Plate_top1" [ label = "Left1_Rigid2" ]
"Left1Plate_top1" -> "Left1Wheel_sets1Roller_8_11" [ label = "Left1_Rigid5" ]
"Left1Plate_top1" -> "Left1Wheel_sets8Roller_8_11" [ label = "Left1_Rigid6" ]
"Left1Plate_top1" -> "Left1Wheel_sets7Roller_8_11" [ label = "Left1_Rigid7" ]
"Left1Plate_top1" -> "Left1Wheel_sets6Roller_8_11" [ label = "Left1_Rigid8" ]
"Left1Plate_top1" -> "Left1Wheel_sets5Roller_8_11" [ label = "Left1_Rigid9" ]
"Left1Plate_top1" -> "Left1Wheel_sets4Roller_8_11" [ label = "Left1_Rigid10" ]
"Left1Plate_top1" -> "Left1Wheel_sets3Roller_8_11" [ label = "Left1_Rigid11" ]
"Left1Plate_top1" -> "Left1Wheel_sets2Roller_8_11" [ label = "Left1_Rigid12" ]
"Left1Plate_top1" -> "Left1Top_Base1" [ label = "Left1_Rigid13" ]
"Left1Wheel_sets1Roller_8_11" -> "Left1Wheel_sets1Satellite_Wheel_8_11" [ label = "Left1Wheel_sets1_Rev1" ]
"Left1Wheel_sets2Roller_8_11" -> "Left1Wheel_sets2Satellite_Wheel_8_11" [ label = "Left1Wheel_sets2_Rev1" ]
"Left1Wheel_sets3Roller_8_11" -> "Left1Wheel_sets3Satellite_Wheel_8_11" [ label = "Left1Wheel_sets3_Rev1" ]
"Left1Wheel_sets4Roller_8_11" -> "Left1Wheel_sets4Satellite_Wheel_8_11" [ label = "Left1Wheel_sets4_Rev1" ]
"Left1Wheel_sets5Roller_8_11" -> "Left1Wheel_sets5Satellite_Wheel_8_11" [ label = "Left1Wheel_sets5_Rev1" ]
"Left1Wheel_sets6Roller_8_11" -> "Left1Wheel_sets6Satellite_Wheel_8_11" [ label = "Left1Wheel_sets6_Rev1" ]
"Left1Wheel_sets7Roller_8_11" -> "Left1Wheel_sets7Satellite_Wheel_8_11" [ label = "Left1Wheel_sets7_Rev1" ]
"Left1Wheel_sets8Roller_8_11" -> "Left1Wheel_sets8Satellite_Wheel_8_11" [ label = "Left1Wheel_sets8_Rev1" ]
"Left2Plate_bot1" -> "Left2Middle_Cylinder1" [ label = "Left2_Rigid1" ]
"Left2Middle_Cylinder1" -> "Left2Plate_top1" [ label = "Left2_Rigid2" ]
"Left2Plate_top1" -> "Left2Wheel_sets1Roller_8_11" [ label = "Left2_Rigid5" ]
"Left2Plate_top1" -> "Left2Wheel_sets8Roller_8_11" [ label = "Left2_Rigid6" ]
"Left2Plate_top1" -> "Left2Wheel_sets7Roller_8_11" [ label = "Left2_Rigid7" ]
"Left2Plate_top1" -> "Left2Wheel_sets6Roller_8_11" [ label = "Left2_Rigid8" ]
"Left2Plate_top1" -> "Left2Wheel_sets5Roller_8_11" [ label = "Left2_Rigid9" ]
"Left2Plate_top1" -> "Left2Wheel_sets4Roller_8_11" [ label = "Left2_Rigid10" ]
"Left2Plate_top1" -> "Left2Wheel_sets3Roller_8_11" [ label = "Left2_Rigid11" ]
"Left2Plate_top1" -> "Left2Wheel_sets2Roller_8_11" [ label = "Left2_Rigid12" ]
"Left2Plate_top1" -> "Left2Top_Base1" [ label = "Left2_Rigid13" ]
"Left2Wheel_sets1Roller_8_11" -> "Left2Wheel_sets1Satellite_Wheel_8_11" [ label = "Left2Wheel_sets1_Rev1" ]
"Left2Wheel_sets2Roller_8_11" -> "Left2Wheel_sets2Satellite_Wheel_8_11" [ label = "Left2Wheel_sets2_Rev1" ]
"Left2Wheel_sets3Roller_8_11" -> "Left2Wheel_sets3Satellite_Wheel_8_11" [ label = "Left2Wheel_sets3_Rev1" ]
"Left2Wheel_sets4Roller_8_11" -> "Left2Wheel_sets4Satellite_Wheel_8_11" [ label = "Left2Wheel_sets4_Rev1" ]
"Left2Wheel_sets5Roller_8_11" -> "Left2Wheel_sets5Satellite_Wheel_8_11" [ label = "Left2Wheel_sets5_Rev1" ]
"Left2Wheel_sets6Roller_8_11" -> "Left2Wheel_sets6Satellite_Wheel_8_11" [ label = "Left2Wheel_sets6_Rev1" ]
"Left2Wheel_sets7Roller_8_11" -> "Left2Wheel_sets7Satellite_Wheel_8_11" [ label = "Left2Wheel_sets7_Rev1" ]
"Left2Wheel_sets8Roller_8_11" -> "Left2Wheel_sets8Satellite_Wheel_8_11" [ label = "Left2Wheel_sets8_Rev1" ]
"Right2Plate_bot_r1" -> "Right2Middle_Cylinder_r1" [ label = "Right2_Rigid1" ]
"Right2Middle_Cylinder_r1" -> "Right2Plate_top_r1" [ label = "Right2_Rigid2" ]
"Right2Plate_top_r1" -> "Right2Top_Base_r1" [ label = "Right2_Rigid3" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r1Roller1" [ label = "Right2_Rigid4" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r2Roller1" [ label = "Right2_Rigid6" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r3Roller1" [ label = "Right2_Rigid7" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r4Roller1" [ label = "Right2_Rigid8" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r6Roller1" [ label = "Right2_Rigid9" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r7Roller1" [ label = "Right2_Rigid10" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r8Roller1" [ label = "Right2_Rigid11" ]
"Right2Plate_top_r1" -> "Right2Wheel_sets_r5Roller1" [ label = "Right2_Rigid12" ]
"Right2Wheel_sets_r1Roller1" -> "Right2Wheel_sets_r1Satellite_Wheel1" [ label = "Right2Wheel_sets_r1_Rev5" ]
"Right2Wheel_sets_r2Roller1" -> "Right2Wheel_sets_r2Satellite_Wheel1" [ label = "Right2Wheel_sets_r2_Rev5" ]
"Right2Wheel_sets_r3Roller1" -> "Right2Wheel_sets_r3Satellite_Wheel1" [ label = "Right2Wheel_sets_r3_Rev5" ]
"Right2Wheel_sets_r4Roller1" -> "Right2Wheel_sets_r4Satellite_Wheel1" [ label = "Right2Wheel_sets_r4_Rev5" ]
"Right2Wheel_sets_r5Roller1" -> "Right2Wheel_sets_r5Satellite_Wheel1" [ label = "Right2Wheel_sets_r5_Rev5" ]
"Right2Wheel_sets_r6Roller1" -> "Right2Wheel_sets_r6Satellite_Wheel1" [ label = "Right2Wheel_sets_r6_Rev5" ]
"Right2Wheel_sets_r7Roller1" -> "Right2Wheel_sets_r7Satellite_Wheel1" [ label = "Right2Wheel_sets_r7_Rev5" ]
"Right2Wheel_sets_r8Roller1" -> "Right2Wheel_sets_r8Satellite_Wheel1" [ label = "Right2Wheel_sets_r8_Rev5" ]
}
Here I can find out
- Multiple root nodes appears.
Both examples cannot run successfully for the urdf generation code.