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This tool was developed to convert CAD models to URDF models semi-automatically. It makes use of the XML files exported by the SimMechanics Link . Mathworks, makers of SimMechanics, have developed plugins for a couple of leading CAD programs, including SolidWorks, ProEngineer and Inventor.

http://www.ros.org/wiki/simmechanics_to_urdf

http://www.ros.org/wiki/simmechanics_to_urdf/Tutorials/Converting%20SimMechanics%20To%20URDF

hope this give you a hint

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