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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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How to convert urdf to sdf and load it without ROS? #2289

Open osrf-migration opened 7 years ago

osrf-migration commented 7 years ago

Original report (archived issue) by Andrew Hundt (Bitbucket: ahundt).

What's the most recent command to convert an URDF to an SDF format file? Is this possible without ROS?

I did quite a bit of searching and it seems all documentation for loading urdf files in gazebo 8.1 is either outdated or no longer exists, and there seems to be quite a few questions on answers.gazebosim.org about this. 

/usr/local/Cellar/gazebo8/8.1.0/bin/gz sdf --convert simple_box.urdf

http://answers.gazebosim.org/question/1551/documentation-for-urdf2gazebo-parser-in-gzsdf/ above has this dead link: http://gazebosim.org/wiki/Tools http://answers.gazebosim.org/question/12721/problem-converting-urdf-to-sdf/

The reason I'm asking is to be able to make comparisons of urdf and sdf loading between gazebo and bullet3: https://github.com/bulletphysics/bullet3/issues/1156#issuecomment-305033633

osrf-migration commented 7 years ago

Original comment by Andrew Hundt (Bitbucket: ahundt).

I think this might do the trick:

gz-8.1.1 sdf -p ~/src/bullet3/data/kuka_iiwa/kuka_with_gripper.urdf

Details of my investigation are at https://github.com/bulletphysics/bullet3/issues/1156#issuecomment-306367636

osrf-migration commented 7 years ago

Original comment by Andrew Hundt (Bitbucket: ahundt).

If that's right, could the docs + command line help descriptions specify that information a bit more clearly?