How to make sure URDF exported correctly from SW2URDF?
I am using SW2URDF plugin to export a complicated assembly. what i noticed that when i identify joints, links and origins manually and hit export everything exported correctly! and the package is created successfully. but when i do all the steps automatically. the package exported successfully! even it's a way different from the manual assignment for (joints, links and origins). however, the robot isn't shown in RVIZ,Gazebo and urdf online viewer. so, how to make sure the robot exported successfully from solidwork?
my URDF:
<?xml version="1.0" encoding="utf-8"?>
<robot
name="bringup">
<link
name="base_link">
<inertial>
<origin
xyz="8.4499366132184E-08 0.0413899524421433 0.448353944324747"
rpy="0 0 0" />
<mass
value="483.642774354836" />
<inertia
ixx="66.5589352522489"
ixy="-8.18075396774199E-06"
ixz="-1.26985095232434E-06"
iyy="77.7009885551722"
iyz="-3.41648589132718"
izz="99.8657529755009" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bringup/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bringup/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link_s_1">
<inertial>
<origin
xyz="-1.0333E-07 0.38162 0.062421"
rpy="0 0 0" />
<mass
value="308.66" />
<inertia
ixx="65.642"
ixy="1.2699E-06"
ixz="8.1808E-06"
iyy="96.94"
iyz="-3.4086"
izz="75.402" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bringup/meshes/link_s_1.STL" />
</geometry>
<material
name="">
<color
rgba="0.31765 0.24706 0.20784 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bringup/meshes/link_s_1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint_s_1"
type="fixed">
<origin
xyz="0 0 0.16346"
rpy="1.5708 0 -3.1416" />
<parent
link="base_link" />
<child
link="link_s_1" />
<axis
xyz="0 0 0" />
</joint>
<link
name="19018">
<inertial>
<origin
xyz="-0.275342770725246 0.684594248011687 -0.468812087034703"
rpy="0 0 0" />
<mass
value="2194.81064038651" />
<inertia
ixx="843.25644940157"
ixy="-13.5712727706793"
ixz="-3.94365348150686"
iyy="1059.35447907852"
iyz="-76.5582504592004"
izz="655.443533049817" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bringup/meshes/19018.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 0.25" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://bringup/meshes/19018.STL" />
</geometry>
</collision>
</link>
<joint
name="19018"
type="fixed">
<origin
xyz="-0.4318 -0.254 0.2224"
rpy="1.5708 0 -1.5708" />
<parent
link="base_link" />
<child
link="19018" />
<axis
xyz="0 0 0" />
</joint>
<link ...