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Why robot_model use urdf not just using universal CAD extension file?

asked 2011-07-20 04:12:55 -0600

sam
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updated 2014-01-28 17:10:04 -0600

ngrennan
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Because translate from CAD file to urdf will lead to a lot of steps or problems.

I have occurred some.

I am afraid of that maybe also cause some precisions problems during translation.

Is there any way just read the file from Inventor,Solidworks,Proe...?

Or is it possible in the future?

Thank you~

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answered 2011-07-20 04:23:37 -0600

flag of Germany

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URDF contains more information that CAD files, i.e. it is more universal. You can, however, use models imported from CAD programs in the URDF.

Extra things that are handled are e.g. kinematics, joint limits (those might be in CAD programs), extensions for simulation, collision models.

Also a URDF is very small to read if you don't care about the CAD models.

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What you mean is URDF contain all the information of CAD files,and also contain with other features that CAD files don't concern? And is there any possible lose from transfer CAD files to URDF?

sam ( 2011-07-20 04:31:25 -0600 )edit

I'd say it depends on the format. Regarding your question the word "Unified" is the most important from the URDF. You can attach meshes (i.e. CAD models) to the URDF, but information like materials, screw threads, etc. will be lost.

dornhege ( 2011-07-20 04:36:18 -0600 )edit

And........if URDF is more universal,why CAD software couldn't export to that extension? Is URDF a different type of purpose,so CAD software just ignore that?

sam ( 2011-07-20 04:39:32 -0600 )edit

So information like materials, screw threads, and etc are not important with gazebo,right?

sam ( 2011-07-20 04:42:16 -0600 )edit

I think theoretically CAD software could export URDF, but it is not widely used enough to be on their radar. Plus its not just one piece of CAD software.

David Lu ( 2011-07-20 05:07:28 -0600 )edit

2

answered 2011-07-20 04:51:57 -0600

flag of United States of America

10932 ●123 ●219 ●250 http://MetroRobots.com/

The simmechanics to urdf tool is one way to get data from CAD programs to ROS.

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Asked: 2011-07-20 04:12:55 -0600

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Last updated: Jul 20 '11

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