Generating an URDF File — tutorial
Robot models often begin in CAD or 3D modelling tools before they are used in simulation or visualisation. This article lists URDF export, conversion, and viewing tools for common design workflows. After reading it, you can choose a suitable tool for generating or inspecting an URDF file.
Goal: Learn how to Export an URDF File
Tutorial level: Intermediate
Time: 5 minutes
Most roboticists work in teams, and often those teams include a mechanical engineer who develops a CAD model of robot. Instead of crafting an URDF by hand it is possible to export an URDF model from many different CAD and modeling programs. These export tools are often developed by individuals that are familiar with the particular CAD program they use. Below you will find a list of available URDF exporters for a variety of CAD and 3D modeling software systems. The ROS core maintainers do not maintain these packages. As such we make no claims about their performance or ease of use. However, we figured it would be helpful to produce a list of available URDF exporters.
CAD Exporters
Other URDF Export and Conversion Tools
The Blender Robotics Tools repository includes a number of useful tools, including a tool to export URDF files from Blender.
- Viewing URDF & SDF Files
Web Viewer for URDF Files: GitHub Repo & Live Website
If you have an URDF tool you like please consider adding it to the list above!