Flip axis of URDF?

asked 2021-10-09 14:41:47 -0500

networdtwo gravatar image

I have a right hand URDF model for a particular robot hand and I would like to convert it to a left hand model. I'm wondering what the most straightforward way of doing this is? It is a reasonably complex model and so not trivial to change by hand and would prefer to avoid this method if possible.

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There is no magic switch for this. URDF assumes a right-handed coordinate system I believe. REP-103 also states that a right-handed system is the default chirality of ROS.

Perhaps I'm misunderstanding you though: do you want to mirror a model, or really change the chirality (as far as that makes sense for a model)?

gvdhoorn gravatar image gvdhoorn  ( 2021-10-10 04:25:49 -0500 )edit