generating a urdf from an stl model

Visual models can be exported directly from a CAD package. URDF Generation The URDF file generator uses data from the tf trees that the USARSim ROS node maintains for all actuators, sensors, and effectors on the robot. To represent the properties of the robot in the ROS system the model of the robot is described using a domain-specific modelling language called Unified Robotic Description Format (URDF) and stored in a URDF file. Sure, you can have a URDF that only has the base_laser link in it, and publish the TF transform yourself. As an example, see the m10ia.urdf. To generate the URDF and check the result (Groovy and older): To generate the URDF and check the result (Hydro and newer): If successful, the commands above will generate a URDF of your industrial manipulator. For more information on creating an XACRO, see the XACRO tutorials. Update your file my_urdf.xml and run it through the parser: 1 $ rosrun urdf_parser check_urdf my_urdf.xml If it all looks good, you can move to the next step. In later releases it is moved to urdfdom_model. Collision models should be simple, yet encompass the entire link geometry. Also see the URDF XML documentation and the URDF tutorials. Okay, I understood it perfectly. Resources and programs to generate models (URDF, SDF) of the iCub robot. Solidworks Joint Coordinate System) and the mesh-file origin. pip install numpy-stl Cube Example In the numpy-stl documentation there is an example called "Creating Mesh objects from a list of vertices and faces". What we didn't specify yet is around which axis the joints rotate. The axis specifies the rotational axis in the local frame. This tutorial can make use of any robot arm design files available on the internet in CAD neutral format (such as STL). The Solidworks URDF exporter tool creates the URDF with a zero offset between the mesh origin and link origins. If it all looks good, you can move to the next step. It is very important that the information within the URDF is accurate. Position the Part on the 3D Printer Bed You can click on the part and adjust the position on the printer bed using the tools on the left. base_link The base_link shall be positioned in the logical base position (oriented by convention, z-axis up, x-axis forward). The transform between base and base_link can be defined in any way, as long as the transform is fixed between the two (i.e. catkin config --install and --no-install using same build dir? to use obj2udf library (PyPI) then It can generate 1 URDF per 1 STL (it doesn't work because I can't find how to program to change link name or add link and can't combine STL) so now I have URDF of each link instead of a robot URDF. rviz: QXcbConnection: XCB error: 148 (Unknown), reemc_tutorials/pal_hardware_gazebo/src/pal_hardware_gazebo.cpp:352:32: error: rw_resources_ was not declared in this scope, MoveIt! Most tools that consume URDF in ROS are capable of loading XACRO directly, so there is typically no need to manually convert them to URDFs. Or ask the creator of the robot you mention nicely for the information you are lacking. The following is an overview of steps, which are then elaborated on in the rest of this tutorial: Required An <inertia> element within each <link> element must be properly specified and configured. What node are you launching that gives you this error? The robot in the image is a tree structure. Also verify that the joint limits match. Get News & Resources Delivered to your inbox. OnShape [1] and Fusion360 [2] also have plugins to create URDF files from assemblies. Our Segway RMP URDF files also enable modifications to the platform in ROS, so that you can integrate and test various sensors, robotic arms, vision components or payload capacities. A visual quality model is used for display purposes only. Whether you know it yet or not, if youre working on a robotics project, chances are you will need URDF and/or 3D models. Most importantly, usage has become even easier. Does anyone know a better solution? Our engineers have put in the time and effort to make exact 3D models of all of our Segway RMPs. We will discuss specific conventions that are meant to: The arm path planning methods that are used by ROS-Industrial are collision aware. Why do I need a Standard 3D Model? I am not sure if I need to ask new question or extend it. However, this seems impossible from .stl files (Properties shows nothing helpful in Fusion). In later releases it is moved to urdfdom_model. The ROS Wiki is for ROS 1. Note that URDFs are not composible - meaning that you cannot (easily) combine them with other models as you can with XACROs. Was the stl generated from Solidworks? You can learn more about URDF files and packages on wiki.ROS.org. If you need any custom URDF or 3D models, we can provide you with those as well. I am trying to build a model of a real robot to train in pybullet (Bittle/Nybble by Petoi). coincident with the joint nearest to the base of the robot. (3), Starting with Electric Turtle, the check_urdf script has been moved from urdf into urdf_parser. I see there is a loadURDF api which loads the URDF files. Step 1 Creating . additional : That's a requirement you have. If the function finds no XML file 1. To import visual representation of robots, in the 3D World Editor, select Nodes > Import From. Let's look at the second joint. As you notice in the robot image, the reference frame of each link (in green) is located at the bottom of the link, and is identical to the reference frame of the joint. Create the URDF file by hand in xml. Then select STL File, Physical Modeling XML File, URDF File, SDF File, or COLLADA File. URDF and SDF files use Collada DAE and STL formats to define visual properties of scene objects. A Standard 3D model allows for rapid integration. Callback used for generating URDF class equivalents. However, this seems impossible from .stl files (Properties shows nothing helpful in Fusion). Check out the ROS 2 Documentation. Generate a URDF for your robot and end-effector (Optional) The maker has not published any files, but on Thingiverse I can find .stl files. They make it easy to simulate in ROS before you make a purchase decision. You will need a URDF file specific to your robotic projects platform in order to develop solutions through ROS. Moveit could generate a URDF that we can use to run our robot in the Gazebo simulation (We discussed Gazebo in this tutorial). So here's a demo on how to use matplotlib to render your stl files: You can make the render prettier yourself of course, but it is certainly useful for testing. Specify xacro properties in launch file. It generates a STL file for a cube. Not sure what those models do, or which ones you need? There are many useful applications of a 3D model, and most researchers and engineers will need to either acquire or create these files long before they commit to an RMP for their robotics project. Specifically, the joint limits and orientations will used in the following steps and must be correct. 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. Can you please post the stl file as well? What would be the best way to create a URDF model? Create a visual "dummy object" in FreeCAD that links ShapeA and ShapeB at object location and exports as a joint to a SDF file. We offer both URDF models and Standard 3D Models for each of the following Segway RMPs: Whether you are a researcher evaluating a robotic platform for your next research project, or a product engineer or robotics integrator who needs to test out components or create simulations for investors, youll need digital models to go along with your robotics projectand you shouldnt have to waste time or resources creating them yourself. Thank you for your answer. Create complete robot URDF from Onshape 3D model. They eliminate the need for tedious lists of data points, measurements and complicated drawings. Joint2 is offset in the Y-direction from link1, a little offset in the negative X-direction from link1, and it is rotated 90 degrees around the Z-axis. Thanks in advance python animation game-physics maya bulletphysics So, we need to add the following element: If you repeat this for all the elements our URDF will look like this: Update your file my_robot.urdf and run it through the parser:3. Alessandro Melino ( Jun 19 '20 ) 1 Sure, you can have a URDF that only has the base_laser link in it, and publish the TF transform yourself. I will try to port it from Catia and I will say if it works. The coordinate system present in vendor supplied CAD models are rarely in the desired position. Robot Arm CAD files and URDF. Let's start very simple, and create a description of that tree structure, without worrying about the dimensions etc. Below are working versions of the URDF and launch file. (4), Starting with Electric Turtle, urdf_to_graphiz and check_urdf scripts have been moved from urdf into urdf_parser. Our URDF files are simple XML files that describe the mass, cg, and dimensions of the Segway RMP base platform. +1 But, I would still like to know how a model created in Catia/Blender (say a simple two joint three link structure hand equivalent) can be simulated in ROS Gazebo interface through C++ code (from scratch). This placement results in a simple joint transform. If it is not correctly oriented, manually correct it by editing the feature, then rerun the URDF Configuration tool to regenerate the URDF file. If solidworks was the problem, one thing you can try is open the solidworks mesh in a text editor (e.g. All we need to do is add the element to each joint. Now I am able to load PR2 models but not the one of my robot. Mar 18, 2020 18 Dislike Share Save Markhor Robotics 1.03K subscribers First of all, you need to install an Extention from ROS official website. Creating a URDF File via SolidWorks This tutorial will cover how to create a URDF file using SolidWorks. Its far more useful to be able visually see the model, rotate it and take measurements where and when you need it for your own purposes. The best way of having my model in gazebo. A sample schematic of the architecture is below. This frame name is by ROS convention. Generate a "dummy SDF" with data from a FreeCAD document with one shape (pose, inertia, mesh) 2. These models can be highly detailed because they are not used for collision checking. I feel I am missing something obvious here, surely Roboticists create URDF files all the time, using .stl files.. Starting with ROS Electric Eyms, the check_urdf script has been moved from urdf into urdf_parser. Convert2. The following snippet shows an example definition: base The base frame shall match exactly the base defined by the robot controller. from pr2_description) into auriga_model, and see if a different stl brings up correctly. The more detailed these models, the longer it takes to perform collision checks. The convention for the name of a package containing urdf / xacro files along with launch files to bring up the robot controller is <>_support. In later releases it is moved to urdfdom_model. Converting like below can be a good check to see whether your XACRO is formatted correctly though, so it could still be useful. The BCN3D Moveo deals with complicated geometries, so writing the code for the URDF from scratch would prove to be a challenge. That seems correct at first pass. PRES saving it, open it up in solidworks and use http://wiki.ros.org/sw_urdf_exporter to generate the model. Generate a "dummy SDF" with data from a FreeCAD document with several shapes. The generator will then find the root parent to add to the previously processed object. A Standard 3D Model of an RMP is a complete, exact three-dimensional rendering of that robotic mobility platform. STLs really only capture the shape of objects, nothing more, as you already discovered. Now you can try to visualize the URDF using graphiz:5. and open the generated file with your favorite pdf viewer: You are now ready to move to the next tutorial, and start using the URDF parser in your C++ code. - How to execute trajectories backwards, how to get rotation matrix from quaternion in python. For example, the command smimport('sm_humanoid') tells the function to create a multibody model from the sm_humanoidXML file. This takes a lot of time. Include the file extension in the file name. In the case where an end-effector is added to the robot, the XACRO comes in handy. We will assume that the base_link coordinate frame is located 0.2 meters above the base_footprint coordinate frame. Creative Commons Attribution Share Alike 3.0. recreate each component in Fusion 360. if using the URDF Plugin for SolidWorks, after completing the URDF Export Configuration (File->ExportasURDF), double check that the Origin_global feature that was created by the URDF exporter is oriented correctly (X-axis forward, Z-axis up) . STL and Meshlab problems. Add xacro as dependency to the generated package.xml: While it is possible to write an explicit URDF for a particular industrial arm, a more general XACRO approach is taken. Hokuyo Laser plugin only returns INF value reading. To check, you can copy another working stl (e.g. For most controllers, this is equal to an unconfigured TCP, which lies on the physical robot's mounting flange. It is suggested the convex hulls be created from visual STLs, using a 3D mesh tool such as MeshLab (Filters->Remeshing,SimplificationandReconstruction->ConvexHull). So in order to load obj I guess first we need to export obj to URDF. They eliminate the need for tedious lists of data points, measurements and complicated drawings. URDF is based on XML and its syntax enables encoding the robot's layout and its constituting elements . What You Need to Know about a ROS Robot. from publication: Economic, Social Impacts and Operation of Smart Factories in Industry 4.0 Focusing on Simulation and . As with other robot links it is oriented with the z-axis up (pointing towards the end-effector). See m10ia.xacro for an example. So, simple add the following xml to the joint element: Similarly, joint1 is rotating around the following axis: Note that it is a good idea to normalize the axis. From the MATLAB command line, you can use the vrimport function . Open the STL File and Prepare the Printer Settings Next, go into the Slicer and open, import, or load the STL file. Might be the easiest, as long as I can get accurate inertia values for each component. In case of inconsistent normal orientation (mesh shows transparent areas), use Filters->Normals,CurvaturesandOrientation->Re-Orientallfacescoherently. It does not have to be part of the main kinematic chain. In ROS, URDF (Universal Robot Description Format) is used for this task. (1), The binaries from urdfdom now appear in the path directly and rosrun no longer works: http://answers.ros.org/question/112081/urdfdom-check_urdf/ (2), Starting with ROS Electric Emys, the check_urdf script has been moved from urdf into urdf_parser. We know that URDF models take a lot of time to generate and get right, which is why we make these files available to anyone interested in using a Segway RMP. By writing a XACRO that can generate the manipulator portion of the URDF, we provide flexible and extensible library that can be used to generate any custom robot. flange The flange shall be the attachment point for an end-effector. not across a movable joint). And then you have to export your 3D model as. Our engineers have put in the time and effort to make exact 3D models of all of our Segway RMPs. ROS Integration is a necessity in modern robotics, and URDF models are a necessity to integrate a platform with ROS. Once we add that, we actually have a full kinematic model of this robot! Is it possible? Please start posting anonymously - your entry will be published after you log in or create a new account. Optional Add a <gazebo> element for every <link> I tested and "rospack find" command works fine with me. In this tutorial we will learn to create URDFs for typical industrial manipulators. Hello, I see that you declare the base_laser link in the urdf file, but is it possible to declare it using tf package and in the urdf file just declare the base_link with the stl model? if possible, oriented such that when the robot is in the zero position, the X-axis points forward and the Z-axis points up. This highlighted some issues in simmechanics_to_urdf and other s. To accomplish this, we will add the field to each of the joints. To visualize your robot run the following: Use the GUI sliders to verify the joint orientation (i.e. Converting SolidWorks stuff to URDF. It also generates a new set of STL output files . Make certain to export binary STLs. relative path to . Alternatively, one can design it from scratch using any of the popular CAD software packages such as SolidWorks. URDF files are needed in order for ROS to understand and be able to simulate situations with the robot before a researcher or engineer actually acquires the robot. We can reopen the ticket and submit a patch to assimp if necessary. By convention and in order to match common industrial robot frames, several additional frames should be added to the XACRO. 1 I have .obj file for 3d model and I wanted to load it in pybullet. You can create animations showing the platform doing something for investors. NOTE: This tutorial was prepared with MeshLab v1.3.0. Now let's see if we can get this urdf file parsed. I am trying to use stl files with the tag mesh with this code: The package existes and the file is located there but I get this message when I try to launch it: I have been doing some test with PR2 stl model and I had no success. Link coordinate systems must be created before exporting STL files from 3D CAD models. At Stanley Innovation, we know robotsand that means we know what robotics projects call for. The full example is shown below. That is two of the three orientation angles must remain zero. Examples of base frames are the World Frame on Fanuc controllers and $ROBROOT for KUKA. Are you using ROS 2 (Dashing/Foxy/Rolling)? I see on similar issue strace output like this: stat64("/home/it/ros/visualization_common/ogre_tools/media/materials/programs/package://xml/Roboti_algus - roomuk-1 Jalg-1 1-1.STL" Why "package://" is not parsed/rewritten? In order to take advantage of this capability 3D information about the robot geometry is required. So, if you look at joint2, you see it rotates around the positive Y-axis. 4. The function is expected to return a cloned version of the provided mesh or a URDF class describing the analogous object. The models automatically generated by the software and the resources in this repository are available at https://github.com/robotology/icub-models . As an example, see the m10ia.urdf. all link coordinate frames should be identically-oriented with the X-axis pointing forward and the Z-axis pointing up. ROS and MoveIt however, require our files to be in URDF. So, to add dimensions to our tree, all we have to specify is the offset from a link to the joint(s) of its children. We will create a base for a basic mobile robot (like the one in the cover image of this tutorial) using URDF format. However, in order to take advantage of some libraries, the joint orientation (roll, pitch, yaw) is limited to a single rotation. generate urdf generate urdf with following contents. The 3D Preception Pane is meant to set parameters in case we. Converting xacro to URDF After designing the xacro file, we can use the following command to convert it to a URDF file: $ rosrun xacro xacro pan_tilt.xacro --inorder > pan_tilt_generated.urdf The --inorder option has been recently introduced in ROS to increase the power of the conversion tool. The ROS Wiki is for ROS 1. These files are used by a program called ROS (Robot Operating System) to tell the computer what the robot actually looks like in real life. A XACRO is a type of URDF macro that can be used to generate a URDF. to combine each urdf in pybullet and think it won't work when use as simulation. Are you using ROS 2 (Dashing/Foxy/Rolling)? The link "base_link" is just fine. Please start posting anonymously - your entry will be published after you log in or create a new account. We take this approach because industrial manipulators are often combined with custom end-effectors, requiring a custom URDF. How to find out other robots finished goal? (For a cool example, visit: GrabCADs ceramic disk brake 3D models select 3D View and play around with the on-screen model.). Note: this repository is meant to streamline the process of producing iCub URDF/SDF models by iCub mantainers. At Stanley Innovation, we love creating solutions to complex problems. There are several steps to get a URDF robot properly working in Gazebo. This example was a perfect starting point for generating a STL file from a list of coordinates. Collision quality models should not be highly detailed. export stl mesh with SolidEdge => my_model.stl is generated. Also, could you post the whole Link xml, please? Fire up your favorite text editor, and create a file called my_robot.urdf: So, just creating the structure is very simple! Creative Commons Attribution Share Alike 3.0. In this tutorial we'll create the URDF description of the "robot" shown in the image below. PR of function to automatically convert: euslisp/jskeus#248) Convert1. First of all, It's necessary to create a ros package, I'll call it 'golem_description' and will have the following directories: The most important directories are models and urdf. Typically this frame is the first frame of the robot tied to the first link. To generate the URDF and check the result (Hydro and newer): $ rosrun xacro xacro.py -o <<urdf_file>> <<xacro_file>> $ check_urdf <<urdf_file>> If successful, the commands above will generate a URDF of your industrial manipulator. Revolute joint translation issue. 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?. Download Segway RMP Standard 3D Models Now. This section is meant to demonstrate why a XACRO is used instead of directly writing the URDF. Our platform-specific URDF model files are easy to use and are unique to each Segway RMP platform we offer, meaning our platforms work out of the box with ROS. (5), Wiki: urdf/Tutorials/Create your own urdf file (last edited 2017-05-11 22:15:54 by AdamAllevato), Except where otherwise noted, the ROS wiki is licensed under the, use the robot state publisher on your own robot, http://answers.ros.org/question/112081/urdfdom-check_urdf/. Completing the Kinematics What we didn't specify yet is around which axis the joints rotate. I feel I am missing something obvious here, surely Roboticists create URDF files all the time, using .stl files.. well, they do, but they don't all need "accurate inertia values for each component". The URDF allows for two types of 3D models, visual and collision models. Some trick? Tutorials for utilizing the URDF exporter can be found here. Download scientific diagram | Generating a URDF file in SolidWorks. You also need to specify a joint between the two links, otherwise the robot_state_publisher will complain that there are two root links. Rendering your STL files with matplotlib using numpy-stl It's been a while since the first version of numpy-stl and a lot has changed since. Implement urdf_symbolic_models with how-to, Q&A, fixes, code snippets. I feel I am missing something obvious here, surely Roboticists create URDF files all the time, using .stl files.. The returned object must be the child object that will have children added to it. Instead, you should change the joint type from fixed to floating. The URDF XML format is very expressive and allows many different ways of defining the same geometry. Its purpose is to allow users to transform points into the Cartesian base frame of the robot. If you want to display meshes for both the base_laser and base_link while publishing the base_link to base_laser joint yourself via TF, you cannot simply delete the base_link_to_base_laser_joint, because URDF doesn't allow two unconnected trees of links. URDF: different colors in gazebo for one link with multiple visual meshes. In order to make a mold you would have to import the STL model into a CAD program (there are a few free ones available like Fusion 360 or FreeCAD or maybe many more that will work also) and make a solid body from the surface model. Once we add that, we actually have a full kinematic model of this robot! Next thing is to create a large rectangular block and subtract the positive model from the block. There is a simple command line tool that will parse a urdf file for you, and tell you if the syntax is correct: 1 You might need to install, urdfdom as an upstream, ROS independent package: $ sudo apt-get install liburdfdom-tools Now run the check command: Describing robots with URDF. The desired coordinate systems should adhere to the following: NOTE: If using the Solidworks to URDF Exporter plugin for SolidWorks, the coordinate frames and axes of rotation need to be added under the top-level assembly. https://www.onshape.com/Onshape to URDF python scripthttps://onshape-to-robot.readthedocs.io/en/latest/con. Our 3D models are platform-specific, so that you can look at and play with the platform before you decide to buy. This requires you to reselect all components that are rigid to add it as a link, add coordinate systems and axis for each joint, as well as individually naming each joint and link. We already have such a URDF file. How URDF Models and 3D Models Can Help Your Next Robotics Project, 12 of the Most Innovative and Groundbreaking Mobile Robots, 12 Essential Factors to Consider When Starting Your Next Robotics Project, The 8 Biggest Advantages of Using a Robot Prototype, What Good Is an Open Source Robot? how creat urdf.rviz file for my urdf file? This field is for validation purposes and should be left unchanged. In later releases they are moved to urdfdom_model. You'll probably have to use any of the available methods for estimating dynamic parameters from meshes (such as this one: Inertial parameters of triangle meshes. kandi ratings - Low support, No Bugs, No Vulnerabilities. To correct this in MeshLab, simply invert the surface normals (Filters->Normals,CurvaturesandOrientation->InvertFacesOrientation). Getting a model for your RMP is a problem that would be complex to solve on your own, but we have provided the solution in easy to download .zip files, so that you can start focusing on your real robotics projects problems right away. In your text editor of choice, create a file with the code shown below and save the file as double_pendulum.urdf in a convenient folder. The following snippet shows an example base definition: In order to generate a URDF for your robot, another XACRO (a "top-level" XACRO) must be written to call the XACRO macro written in the previous section. Is there a way to do that either using Maya with bullet plug in or any other methods. Create a Simple URDF Model As an example, create a URDF model of a double pendulum. Because of this, link and/or model transforms may become more complex. assume that my_model.stl is located at /home/leus/my_model.stl import .stl files to Fusion 360, connect via joints and export to URDF via: Create the URDF file by hand in xml. The original model was build in solidworks and maybe this is the problem. Define the axes with lines and mark the initial joint positions with a point. This type of visual rendering makes it easy to locate and gain insight on various components of the platform. Below is sample URDF code. Export meshes Before exporting, please move the elements of the tower's axes such that they are positioned in their zero-positions and make sure that the model is defined in meters. Simulation and actuation of custom model in ROS Gazebo [closed], Rviz extremely slow when showing urdf model, URDF, Attaching two joints to one link for a gripper. This transform (between the last robot link and tool0) may be defined in any way (so may consist of all combinations of translations and rotations), as long as it is a fixed joint type in the URDF. Creating a URDF of the UR10 on two linear axes 3.9.1. Wiki: Industrial/Tutorials/Create a URDF for an Industrial Robot (last edited 2018-07-11 06:32:44 by NadiaHammoudeh), Except where otherwise noted, the ROS wiki is licensed under the, Create a MoveIt Package for an Industrial Robot, Generate a URDF for your robot and end-effector (Optional), create consistencies between robots across vendors, enable software functionality that relies on these assumptions, allow the URDF to be included as part of a larger robot work cell (as this is often the case). Models. When you reference a mesh file in a URDF, the syntax specifies both a filename and an offset from the link origin (a.k.a. plus/minus moves the actual robot). tool0 The tool0 frame (pronounced: 'tool-zero') shall match exactly an all-zeros TCP configuration as defined on the robot controller. A Standard 3D Model of an RMP is a complete, exact three-dimensional rendering of that robotic mobility platform. No License, Build not available. Please post a new question with all of the relevant XML. Assuming this convention was followed when making the STL coordinate frames. 3. Check out the ROS 2 Documentation. smimport('sm_humanoid.urdf') If you omit the file extension, the smimportfunction assumes that the file is in the XML format used to import CAD models. How to use custom textures on urdf models in gazebo? Might be the easiest, as long as I can get accurate inertia values for each component. Hello, I see that you declare the base_laser link in the urdf file, but is it possible to declare it using tf package and in the urdf file just declare the base_link with the stl model? There is a simple command line tool that will parse a urdf file for you, and tell you if the syntax is correct:1. The URDF (Universal Robot Description Format) model is a collection of files that describe a robots physical description to ROS. Tip: With some Slicers, you can drag and drop the STL directly into the program. Contact us to request a custom file. Robot spawns upside down. The preference is for base to be defined relative to base_link. Then read on. The problem is that the second visual tag (in the link "base_laser") is missing the required element. If we add this to all the joints of the robot, our URDF looks like this: Update your file my_robot.urdf and run it through the parser:4, That's it, you created your first URDF robot description! Convert from CAD manually (cf. You can design parts that bolt onto the systems without actually having a system or reading complex drawings. As you step through the following to create a URDF for your robot, adhere to the following conventions: the joint origin is specified by a full transform (see urdf/XML/joint). This article is a step-by-step guide on creating a differential drive mobile robot using ROS and URDF. How to create a URDF file for pybullet from stl files or otherwise? If so, it might be related to this ticket. You might need to install, urdfdom as an upstream, ROS independent package: 2If everything works correctly, the output should look like this: So now that we have the basic tree structure, let's add the appropriate dimensions. See the following robot + end-effector example. We have a nice real world example of testing the proper conversion work flow for generating the model of the iCubHeidelberg01 robot. Here are some of my tries: For me, it looks like it can't resolve properly "filename="package://". See the m10ia_macro.xacro for an example. Users are advised to never change flange or tool0, but instead add additional frame(s) as (a) child(ren) of flange. Using *.stl files as parameters for Gazebo creations. vi), and replace the first word "solid" with spaces. The 3D model also allows you to bring our product into design software like Solidworks, Pro-E or animation tools to help design other parts, measure for integrations or just generally visualize the robot in a 3D way. the joint origins should be oriented with the Z-axis up, and the X-axis forward, when the robot is in the zero position. 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