Convert sdf file to urdf.xacro
Hey there I actually have a sdf file given and would like to convert it to an urdf.xacro file. As I have not found any converter for that I would like to do that by hand. Now what I currently have is e.g a sdf file which has a content like this:
<joint name='body_link_JOINT_0' type='revolute'>
<parent>body_link</parent>
<child>wheel1_link</child>
<pose frame=''>0 0 0 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
My current urdf.xacro file looks like this:
<joint name="wheel1_joint" type="revolute">
<parent link="base_link" />
<child link="wheel1_link" />
<origin xyz="-0.1315 -0.0759 0.2817" rpy="0.9804 -0.3972 -1.5708" />
<axis xyz="0 1 0" />
<limit lower="-1.79769e+308" upper="1.79769e+308" effort="-1" velocity="-1" />
<dynamics friction="0" />
</joint>
Unfortunately I do not know how to deal with the physics tag.