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I want to make an URDF from a Staubli TX2-140. I have the .STL of the all arm. Does someone know how to separate it to get individual links .STL?

Thanks

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2 Answers 2

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Just open it with any graphics tool (Blender gets the job done, but also FreeCad is an option), select each link's point cloud and save them as separate .stl files.

This is of course not perfect and very error prone! If you are building a urdf robot model I would suggest using an automated export tool on a .step/.cad file for the best results. There are plenty of options, for these tools, just search online.

In this way you have already the link groups assemblies and hopefully even materials to export mass values and inertia tensors.

A later step is to get the built .urdf and converting to .xacro for better extensibility with Gazebo and other ROS tools.

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  • $\begingroup$ Also, when you get to needing inertial properties for Gazebo, I found FreeCad especially helpful for specifying non 1.0 density bodies. The meshlab tutorial they provide will assume a density of 1 kg/m^3 (I think). answers.gazebosim.org/question/28772/… $\endgroup$
    – Jack Frye
    Feb 25, 2023 at 1:45
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I am also looking for a way to convert .STL or .STEP files to urdf. The best I've found so far was to use onshape or gazebo and recreate the model.

"There are plenty of options, for these tools, just search online." Searching the Internet brings back this post. Care to give specifics?

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