ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

How to make a URDF from CAD?

asked 2023-03-07 03:41:07 -0500

Unai_Granados gravatar image


I want to implement a Staubli TX2-140 in ROS, but ROS-INDUSTRIAL does not have that model. I have the CAD but I wanto to recreate it in URDF. Why should I do? I understandt that i should convert CAD to inidividual STL links and create the URDF, but how I know the mass and inertias from each link? I am a little bit confused.

Thank you so much.

edit retag flag offensive close merge delete


just a quick comment:

how I know the mass and inertias from each link

unless you can get those from Staubli, you will likely not have accurate/valid data for those aspects.

We typically also don't include mass and/or inertia, exactly for the same reason (ie: no data available).

gvdhoorn gravatar image gvdhoorn  ( 2023-03-07 07:36:58 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2023-03-07 10:17:58 -0500

GeorgNo gravatar image

As far as I know this is the only method at the moment:

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2023-03-07 03:41:07 -0500

Seen: 186 times

Last updated: Mar 07