URDF

[Peter]

URDF (unified robot description format) is an interesting XML
representation of robot arms, see

http://www.ros.org/wiki/urdf/XML

for details. XML is easy enough to parse in MATLAB and it could be
converted into a SerialLink object.

Has anybody used URDF or have an interest in it?

peter

[Nizar Rokbani]

Hi Dr Peter, 

I'm really interested in, i'm discovering

keepintouch

peter

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[juz...@gmail.com]

Dear Peter,

I am doing something with your excellent toolbox, and i had figure out a primitive model of baxter with urdf.  I plan to make a program with python to convert urdf file to DH automatically. If you have a good suggestion, please tell me.


在 2012年2月27日星期一UTC上午6时56分07秒，Peter Corke写道：

[Peter Corke]

It's possible to parse XML in MATLAB (eg. xmlread), and doing this would make it easier to integrate the code into RTB.

Building Link and SerialLink objects is then quite straightforward once you parse out the DH parameters.

There has been quite a bit of discussion on this thread about displaying more realistic solid models, and this capability is included in RTB9.9.  If you can parse out the triangles (vertices and faces) then I think we now know how to display it (ridiculously easy as it turns out).  At the moment I'm using ASCII STL format which is nice, but doesn't support colour, I suspect that URDF does.

peter

[Bryan Moutrie]

ASCII STLs can store colour data - rndread has the ability to read it, but the ARTE files don't have it

[Peter Corke]

URDF also color in the material property, which I guess overrides the colour, or lack of, in the STL files.

peter

[Erik van Oene]

Hi All,

Like the name URDF says (unified robot description format) it sounds like every robotic toolbox (simulator) should have some interface with this file format.
I never used it however I'm interested in some generic way of describing robotics. However I guess URDF is directly related to ROS and is not widely used.

Although I don't have the correct Matlab toolboxes, I know there is some connection between CAD software (Solidworks) and Matlab's SymMechanics via VRML files.
Although this format is mend for a wider range than robotics only And, like the wiki says, this VRML file will be replaces by a X3D file which is XML based.

Here some links:
http://www.mathworks.nl/products/simmechanics/features.html?refresh=true
http://en.wikipedia.org/wiki/VRML
http://en.wikipedia.org/wiki/X3D

Although I am very interesting in a generic description of robotic systems, I dont know if URDF is the (only) one to use.
Does anyone else know some robotic description file formats?
What formats are for example used by robotic simulators like Webots, V-REP, MRDS? Are these all custom and do the have a import feature or a connection with URDF files or other file formats?


Erik


Op maandag 27 februari 2012 07:56:07 UTC+1 schreef Peter Corke:

URDF (unified robot description format) is an interesting XML
representation of robot arms, see

http://www.ros.org/wiki/urdf/XML

for details.  XML is easy enough to parse in MATLAB and it could be
converted into a SerialLink object.

Has anybody used URDF or have an interest in it?

peter

Op maandag 28 april 2014 02:36:02 UTC+2 schreef Peter Corke:

[Peter Corke]

It's feasible to parse URDF and create an RTB SerialLink object, but only for simple non branching cases.  It's on my list of things, but hasn't gotten to the top yet.

URDF by itself only gives the kinematic and dynamic parameters, to create a realistic robot also requires a bunch of STL models.

peter

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[prasanna...@gmail.com]

Hi Sir

How to visualize the robot once we have parsed using urdfparse in Robotics tool box?

[Shreyas C]

Respected Professor,

I would love to explore that.

thanks 

Shreyas

Sent from my iPhone

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[Peter Corke]

At the moment there's little support for rendering arms defined in URDF.  The surface meshes from the URDF files have different origins compared to the link frames from the DH representation (in general) which supports 3D rendering.  It's on the list.

On Thursday, July 4, 2019 at 11:36:36 AM UTC+10, Shreyas C wrote:

Respected Professor,

I would love to explore that.

thanks 

Shreyas

Sent from my iPhone

On Jul 1, 2019, at 10:22 PM, prasanna...@gmail.com wrote:

Hi Sir

How to visualize the robot once we have parsed using urdfparse in Robotics tool box?

On Monday, February 27, 2012 at 12:26:07 PM UTC+5:30, Peter wrote:

URDF (unified robot description format) is an interesting XML
representation of robot arms, see

http://www.ros.org/wiki/urdf/XML

for details.  XML is easy enough to parse in MATLAB and it could be
converted into a SerialLink object.

Has anybody used URDF or have an interest in it?

peter

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[jkoendev]

Hi Peter

is there already a way to convert .urdf files into rtb SerialLink objects?

I found the function urdfparse but it does not seem to output a SerialLink, dh parameter or similar.

I would like to bring some of the machine learning (OpenAI) environments like hopper or half-cheetah to the toolbox.

Many URDF files are available from pybullet:

https://github.com/bulletphysics/bullet3/tree/master/examples/pybullet/gym/pybullet_data

Then there is still the problem of collision/contact and branching robots.

These i would like to formulate as constrained optimization problems (with complementarity conditions) in OpenOCL.

So it would be already a good start to have the individual (serial) links in RTB, and later plug them together using constraints.

Best

Jonas

[Peter Corke]

Hi Jonas,

hopefully by end of year I'll have URDF and branching handled.  Collision checking is harder, or more accurately not something I have experience with.  Do you have the skills/time to help build this capability?

peter

[jkoendev]

Hi Peter

thanks for the feedback regarding URDF!

At the moment i am looking a bit into contact modeling but i am not sure yet how deep i will go/get.

Jonas

[Muhammad Khird Added]

I am trying to work with URDF. I am importing my Solidworks model into Simulink by converting it into URDF. Do you have any helping material regarding that. as i am trying to model a 6DOF robot arm for my Masters Thesis.

[Peter Corke]

RTB has only rudimentary support for URDF, try the Robotics Systems Toolbox instead.