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Adding Physical Characteristics to URDF

Hello all,

I am trying to write up a URDF file for my humanoid robot. So far I have followed the tutorials on ROS and written up a visual description of the robot and its manipulator arms (picture). I asked the manufacturer to send me some physical specifications for the robot arms because I intend to simulate its movements in Gazebo later on.

The specifications appear to be Solid Works files but I am unsure of how to implement these into my xml URDF file. Here are the specifications I was sent along with the first links dynamic characteristics.

Here is the rough URDF file for an estimate of the dynamics. (Sorry for the ugly coding, it's my first urdf/xml file)

So I was wondering, what is the best way to implement the physical characteristics into my urdf file. I know there are SW2URDF plugins but I don't know if I can convince the manufacturers to install this and send it to me. Is there another way to add this information so I can have a better model to simulate with in Gazebo.

Kind Regards, Martin

Adding Physical Characteristics to URDF

Hello all,

I am trying to write up a URDF file for my humanoid robot. So far I have followed the tutorials on ROS and written up a visual description of the robot and its manipulator arms (picture). I asked the manufacturer to send me some physical specifications for the robot arms because I intend to simulate its movements in Gazebo later on.

The specifications appear to be Solid Works files but I am unsure of how to implement these into my xml URDF file. Here are the specifications I was sent along with the first links dynamic characteristics.

Here is the rough URDF file for an estimate of the dynamics. (Sorry for the ugly coding, it's my first urdf/xml file)

So I was wondering, what is the best way to implement the physical characteristics into my urdf file. I know there are SW2URDF plugins but I don't know if I can convince the manufacturers to install this and send it to me. Is there another way to add this information so I can have a better model to simulate with in Gazebo.

Kind Regards, Martin

Adding Physical Characteristics to URDF

Hello all,

I am trying to write up a URDF file for my humanoid robot. So far I have followed the tutorials on ROS and written up a visual description of the robot and its manipulator arms (picture). I asked the manufacturer to send me some physical specifications for the robot arms because I intend to simulate its movements in Gazebo later on.

The specifications appear to be Solid Works files but I am unsure of how to implement these into my xml URDF file. Here are the specifications I was sent along with the first links dynamic characteristics.

Here is the rough URDF file for an estimate of the dynamics. (Sorry for the ugly coding, it's my first urdf/xml file)

So I was wondering, what is the best way to implement the physical characteristics into my urdf file. I know there are SW2URDF plugins but I don't know if I can convince the manufacturers to install this and send it to me. Is there another way to add this information so I can have a better model to simulate with in Gazebo.

Kind Regards, Martin