From SolidWorks to URDF & MoveIt! (Part 2 - The export)

In this video we will export the Solidworks model to a URDF file.
Solidworks Urdf Exporter:
wiki.ros.org/sw...
Reference to ROS URDF coordinate frame setup:
wiki.ros.org/In... (Section 1.1)

[@roboticsinanutshell]

The URDF export plugin has been updated and now the "Export as URDF" option is under "Tools" -> "Tools" -> "Export as URDF".

[@DanteBarboza]

This video saved my life. I'm a mechatronics student.
Thank you very much for you clear explanation!

[@roboticsinanutshell]

Happy to hear that :)

[@ayushikohli7298]

Thankyou so much for this explanation, tried many times sw2urdf but the result obtained was of no use, finally after this explanation I could use moveit with it.

[@fail_fast]

This was incredibly helpful, thank you!

[@Et3rnalFir3]

When I export the URDF from Solidwork, for some reason the moment of inertia does not match up with the part properties inertia. The COM and mass match up though. Did it match for you?

[@apexablaze]

Where to find the export as URDF option in 2024 version

[@amr.a-m8350]

Good Icould setup or plugin UDRF on Saladworks 2016 or more please as tutorials?

[@sananami2883]

Thanks alot for your good video .

[@aliebrazeh5319]

Thank you for your video. It helped me a lot
I have a question, can we just define the x and y-axis and refer all origins to them?

[@hamzasaleem2550]

Good Video Btw You have said What am gona do like million times. Little frustrating

[@tolgaozyurt2060]

I am working on a urdf model on Gazebo right now. But whenever I spawn the model, it just goes crazy and does not stand still. It spawns as non-stable. Would this method help me ?

[@roboticsinanutshell]

This problem can occur if your PID values of the joints are too high. Try setting them to a low value and see if it gets better. You can usually find them in a file called controllers.yaml
Another reason can be that the inertia values of your parts are incorrect. You can approximate them using these matrices here: en.wikipedia.org/wiki/List_of_moments_of_inertia#List_of_3D_inertia_tensors
I think solidworks can also calculate inertia values for the parts for you. Then you fill them into your URDF in the tag. Because inertia tables are symmetric, there will be only 6 values instead of 9. Also be sure to adjust the .

[@tomaspires4506]

Very helpful tutorial. Thanks

[@roboticsinanutshell]

Glad you liked it

[@Ajunk0]

what im going to do is
what im going to do is
what im going to do is
what im going to do is
what im going to do is
what im going to do is
Just relax man, speak calmly and clearly

[@prathameshmore4739]

😮 Will keep that in mind

[@KO-B-NIKHIL]

sir i am facing issue in exporting urdf of linear actuators from solidworks pleas sir reply if you can help me out in this

[@mecs]

I used version SW1.6.0 in SolidWorks 2019.
Link: github.com/ros/solidworks_urdf_exporter/releases
You can find the export button under "Tools" > "Tools" > "Export as URDF"

[@roboticsinanutshell]

Thank you for mentioning this here....

[@nourmohamedrouabah6780]

thank you im using SW2023 and sw2urdf version for sw 2021 and the same worked with me i found it in tools...

[@chinmaydalal9309]

Thanks this video helps a lot so currently im trying to create a urdf file for a six axis robot ur3 so it would be great if you would help me im ready to provide the solidwoks assembly file to your respective email id.

[@MrCalebsaurio]

hi i really like your video tutorials. do you have twitter?

[@roboticsinanutshell]

Currently we don't have twitter. Maybe we will create an account in the future.