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How to export URDF from the scene
Posted: 09 Dec 2021, 04:06
by yifanzhou
Dear all,
I wonder if it is possible to export URDF from the scene?
Re: How to export URDF from the scene
Posted: 09 Dec 2021, 15:39
by coppelia
Hello,
see simURDF.export(modelHandle,filename)
Cheers
Re: How to export URDF from the scene
Posted: 06 Jan 2022, 09:43
by yifanzhou
Sorry, I can't find any guide about simURDF.export(modelHandle,filename).
Re: How to export URDF from the scene
Posted: 06 Jan 2022, 14:05
by fferri
The URDF exporter can be used from the main menu (Plugin or Modules menu, depending on your CoppeliaSim version), or you can use it in a Lua script, e.g.:
Code: Select all
modelHandle=sim.getObjectHandle('IRB140')
filenames=simUI.fileDialog(simUI.filedialog_type.save,'Save URDF...','','export.urdf','URDF Files','urdf')
if filenames then
simURDF.export(modelHandle,filenames[1])
end
Re: How to export URDF from the scene
Posted: 08 Jan 2022, 14:10
by coppelia
you can also
download the beta version of CoppeliaSim's next release, which has an improved URDF importer/exporter.
Cheers
Re: How to export URDF from the scene
Posted: 19 Jun 2022, 10:59
by Juancho
Dear Coppelia,
I would like to export my CoppeliaSim scene to URDF. I was wondering if it is possible. Furthermore, I would like to test the beta version of CoppeliaSim, the one that has an improved URDF exporter. However, the link (
https://coppeliarobotics.com/files/beta/) does not show some available files.
Thank you for your help.
Best regards,
Juan
Re: How to export URDF from the scene
Posted: 21 Jun 2022, 06:21
by coppelia
Hello Juan,
the URDF exporter is available in current CoppeliaSim version 4.3.rev10 that you can download from the
download section. In there, simply select [Menu bar --> Modules --> Exporters --> URDF exporter] and follow the instructions: i.e. you'll have to select a
model, and make sure the base of the model is a
shape. If you do this, a UI button appears that you can click for the export. You cannot directly export the whole scene. But you can try to add a shape (e.g. sphere),
mark it as model base, then attach all object from the scene on top of that sphere, and export that sphere model.
Cheers
Re: How to export URDF from the scene
Posted: 24 Jul 2023, 12:57
by TomDelaney
Hello,
I was wondering when exporting a model into an urdf files is there a way to keep the dummies?
Thank you for your answer!
Re: How to export URDF from the scene
Posted: 25 Jul 2023, 09:21
by coppelia
Hello,
URDF doesn't know what a dummy is. When exporting (with V4.5), a dialog will appear with an option Make red cubes from dummies: if checked, the URDF file will contain red cubed instead of dummies.
Cheers