How to create a URDF file for pybullet from stl files or otherwise?
I am trying to build a model of a real robot to train in pybullet (Bittle/Nybble by Petoi). The maker has not published any files, but on Thingiverse I can find .stl files. What would be the best way to create a URDF model?
Approaches tried:
- recreate each component in Fusion 360. This takes a lot of time.
- import .stl files to Fusion 360, connect via joints and export to URDF via: https://github.com/yanshil/Fusion2PyB.... Disadvantage is that .stl files cannot be joined as they are not Fusion files, so they need to be converted to BRep first, which is a hassle.
- Create the URDF file by hand in xml. Might be the easiest, as long as I can get accurate inertia values for each component. However, this seems impossible from .stl files (Properties shows nothing helpful in Fusion).
Does anyone know a better solution? I feel I am missing something obvious here, surely Roboticists create URDF files all the time, using .stl files..
I would also like to ask you to not cross-post your question to multiple sites: it seems you've posted this to SE as well: How to create a URDF file for pybullet from stl files or otherwise?.
Even though I've already answered, I'm going to close this as a duplicate, until you figure out which one you'd like to keep open.
just saw this, will delete the copy on stackexchange: https://robotics.stackexchange.com/qu...