Can someone guide me on how to convert a Fusion 360 model to URDF File?

To convert a Fusion 360 model to a **URDF (Unified Robot Description Format)** file, follow these steps:

### **1. Export from Fusion 360 to a Compatible Format**
- Open your model in **Fusion 360**.
- Export it as a **STEP (.step) or STL (.stl) file** (STEP is preferred for maintaining part relationships).

### **2. Import into Blender or MeshLab (Optional for Mesh Optimization)**
- If your model is in **STL**, use **Blender** or **MeshLab** to simplify and reduce the polygon count for performance optimization.

### **3. Convert to URDF Using a ROS Tool**
- Install the **fusion2urdf** plugin (if available) or use **SW2URDF** (for SolidWorks models).
- Alternatively, use **Blender or SolidWorks to export as a Collada (.dae) or STL**, then manually write the **URDF** file.

### **4. Manually Create the URDF File**
- Define links and joints in a **URDF file**.
- Convert **STL/DAE files** into a format compatible with **ROS (Robot Operating System)**.
- Use **xacro** to simplify large models.

Example step

Export model: In Fusion 360, select File -> Export -> Select STEP or STL format.

Import to Blender: Open Blender and import the STEP or STL file.

Edit Model: Make the necessary edits and optimizations in Blender.

Export to URDF: Using Blender's URDF export plugin, export the model to an URDF file.

Verify URDF: Verify the file using the check_urdf tool in ROS and test it in Gazebo.

Matters needing attention
Unit consistency: Ensure that units are consistent across all tools to avoid scaling issues.

Model simplification: Complex models may need to be simplified to improve simulation efficiency.