Creating a URDF file using a CAD assembly

Creating a URDF File via SolidWorks

This tutorial will cover how to create a URDF file using SolidWorks. OnShape [1] and Fusion360 [2] also have plugins to create URDF files from assemblies. The BCN3D Moveo deals with complicated geometries, so writing the code for the URDF from scratch would prove to be a challenge.

If SolidWorks is not available, the URDF file can be found here.

Constructing Subassemblies

40%

First, create subassemblies of each articulation. They can be as detailed or as minimal as possible to begin with. Below are examples of each subassembly.

80%

Now combine the subassemblies into a master assembly.

Creating and exporting the URDF

100%

References

[1] How to create URDF from CAD model | Onshape® | Python3. Makeitnow YouTube. https://youtu.be/0M2b1p6H20o

[2] Tople, Pranshu (2021). Creating Robot URDF from Fusion 360 Design for @James Bruton from XRobots. YouTube. https://youtu.be/o7w7yv-Nros