Write URDF file for 6-DOF Poppy arm - for ikpy

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1

Hi,

I am using a Poppy Humanoid with one arm extended as in the 6-DOF branch of the Poppy Project.
I noticed there is no URDF file provided with this branch, and as I would like to use inverse kinematics, I want to write one.

Can anyone give me an information on how to do this?
There is a lot of information in the URDF file format and it is not clear where it has come from or how I can calculate it for extra parts of a robot.

Thanks.

2

Hi,
You talk about the repository poppy-6dof-right-arm ?
It has been made by @joelortiz during an internship. I don’t think that he made an URDF file.

The easiest way to build an URDF is to go with the URDF exporter addon of solidworks (the CAD of the arm has been made in solidworks). It is how @Matthieu built URDF for all other robots.