references.md

FreeCAD add-ins

• RobotCAD, fork of CROSS.
• RobotDescriptor

Fusion add-ins

• Fusion2URDF
• Fusion2PyBullet
• ACDC4Robot
• FusionSDF

Solidworks add-ins

• ROS-Industrial Conference 2022, 01 Manipulation Workshop
• https://github.com/ros/solidworks_urdf_exporter
• ROSCon'22

SWORD

• ROSCon'22

Verbotics' Cell Editor

• Cell editor
• YouTube
• From STEP to weld
• Closed-source.
• Maybe ROS1 only.
• Linux support.

PTC Creo to URDF

• PTC Creo to URDF
• PTC Creo
• Matlab <= 2017a
• Simscape Multibody Link Plug-In [version <= 5.0]
• simmechanics-to-urdf
• ROS1

OnShape-to-robot

• OnShape to Robot
• OnShape account necessary
• Cross-platform

URDF Creator

• URDF Creator, closed source

Workcell Builder

• Part of Easy Manipulation Deployment
• Not very user-friendly

Parsing xacro files

• xacro
• xacro2urdf, doesn't depend on ROS

Parsing URDF files

• https://github.com/galou/kdl_parser
• PyBullet
• check_urdf command-line tool from package ros-galactic-urdfdom
• check_urdf node from package ros-galactic-urdfdom
• kinpy, read URDF, forward kinematics
• yourdf_py
• urdf_py
• MPlib

Displaying URDF files

• ros2 launch urdf_tutorial display.launch.py
• Jupyterlab-urdf

Python programming in FreeCAD

• Origin Group Extension
• Part Attachment Extension
• Dynamic Linked Object
• shape-group.py

Pivy

• Examples

Mesh simplification

• The V-HACD library decomposes a 3D surface into a set of "near" convex parts
• trimesh interface to V-HACD
• Mesh-to-SDF converter (uses V-HACD).
• sdfopt from FusionSDF
• mmoerdijk/generate_convex_hulls.py

Phobos add-on for Blender

• Phobos allows to make kinematic, inertia, collision, etc for your robot model and export as URDF, SDF, SMURF and other formats.

Other links

• Discuss: Tools and Best Practices for 3D Robot Assets (URDF, SDFormat, CAD, etc)