Why does DRCSIM Atlas robot model use URDF?

asked 2012-12-19 22:39:38 -0500

cga
223 ●41 ●46 ●54

updated 2012-12-22 22:01:40 -0500

Sorry for the weird typing, but if I put DRCSIM in the title, lots of old message titles suddenly appear and I am not allowed to type this text into the interface.

Why is the DRCSIM model using what I thought was the "old style" modeling language URDF? I translated the robot model into SDF 1.3 to get control of and simplify the code used by the plugins. The only thing that didn't translate was the safety-controller field in the joint descriptions. Is there some undocumented magic that is going on with URDF that doesn't happen with SDF?

Thanks, Chris

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answered 2013-01-11 19:50:40 -0500

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

A lot of ROS packages rely on URDF, and we need those ROS packages to control Atlas. Until ROS is updated to use SDF, we have to be in this ugly state of supporting both SDF and URDF.

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answered 2012-12-20 13:04:47 -0500

hsu
1873 ●14 ●19

Main reason being to take advantage of some tools built in ros (such as rviz, mechanism controller / controller manager, etc.) for initial development of the robot. Secondary reason being that URDF is simpler and non-simulation specific.

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Why does DRCSIM Atlas robot model use URDF?

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Why does DRCSIM Atlas robot model use URDF?