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Modeling a URDF file.

asked 2011-03-18 05:13:17 -0600

Is it possible to model a URDF file, using blender or other similar software?

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answered 2011-03-18 07:43:25 -0600

dejanpan gravatar image

Hi GeniusGeeko,

you may export your model done in Blender into collada and then use collada_urdf converter to convert into URDF format: https://kforge.ros.org/robotmodel/robot_model/file/d33189ce4a62/collada_urdf/src/collada_urdf.cpp D.

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Alright, awesome! Thanks for this. I'm testing it now.
GeniusGeeko gravatar imageGeniusGeeko ( 2011-03-18 07:47:29 -0600 )edit
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answered 2011-03-18 05:21:11 -0600

mjcarroll gravatar image

I don't believe that any 3d modeling software can directly output a URDF file.

I believe that the best way to go about creating a URDF file from a CAD package is to export a set of your critical dimensions as a CSV file or the like. Most, if not all, CAD packages allow you to define a set of critical dimensions to export. You can then parse these critical dimensions into a set of XACRO variables that you can use in the rest of your URDF files.

Once you have set this up once, you could then just re-export the CSV and re-run your parser each time that the 3d model changes.

You can also export your STL files to allow for "prettier" robot models.

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Alright thanks, I'll check it out. If I don't like it, I'll stick to making them from scratch.
GeniusGeeko gravatar imageGeniusGeeko ( 2011-03-18 05:41:59 -0600 )edit

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Asked: 2011-03-18 05:13:17 -0600

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Last updated: Sep 05 '13