Converting a Robot Model with Parallel Joints from Solidworks to .dae

asked 2018-11-14 15:24:55 -0600

mohamad mahdavian gravatar image

Hello

I am trying to import a robot solidworks model into .dae file to be able to see it in openrave and use it in pymanoid package. As I figured out there are different methods for doing such a thing. One of them is using URDF Exporter in solidworks and then using collada_urdf package in ROS(http://wiki.ros.org/collada_urdf) for converting urdf to dae. But URDF doesn't support parallel joints and it makes it impossible to use this method. Another method is to get a urdf file from solidworks and you can convert it to SDF file and then you can add joints to make it parallel. Then you can use "simtrans" package(https://github.com/fkanehiro/simtrans) to convert it to dae file. But it has some warnings such as: WARNING the inertia matrix is far from the values estimated from bounding box of the shapes or WARNING jointId not set and I can't see why do I get these errors and it can't make a proper .dae file.

Can anyone help me for solving the problem of these methods?

Thank You

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