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query on urdf.xacro file

asked 2011-06-06 14:12:02 -0500

ram gravatar image

updated 2011-06-06 20:50:22 -0500

What are the different file types that can be converted to for a .STEP file to make it readable(mesh) in a urdf.xacro file? other than .stl and ogre.mesh

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answered 2011-06-06 21:10:06 -0500

updated 2011-06-06 21:10:42 -0500

AFAIK, you can use three different types of mesh here:

  • .dae (Collada)
  • .mesh (Ogre)
  • .stl

I just used FreeCAD to convert the STEP file into a STL file, and it worked great.

The meshes you specify in the URDF are used in a number of places, such as visualization in RViz, and collision avoidance.

It would be great to have some documentation about the "officially supported" mesh types in the wiki. At the moment, this information is scattered across a number of pages:

Perhaps somebody with more insight into this can have a look?

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Asked: 2011-06-06 14:12:02 -0500

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Last updated: Jun 06 '11