URDF File¶

In WMX3, robot information can also be managed in a separate URDF file. The robot URDF file includes the following information:

Robot Name
Joint Information
Link Information
Flange Coordinate System Information
World Coordinate System Information
World Link Information
Tool Coordinate System Information (optional)
Tool Link Information (optional)

In the URDF file, the joint type in the joint information must be either ‘revolute’ or ‘prismatic’. Also, the axis item must always be expressed as positive unit vectors for X-axis, Y-axis, and Z-axis.

In the URDF file, WMX axis information must be defined in the transmission - actuator section as wmx_axis {WMX axis number} as shown below:

<transmission name="transmission_5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="J6"/>
    <actuator name="wmx_axis 5"/>
</transmission>

In the URDF file, the robot type is always set to User Defined Robot (UserDefinedModel). Unlike XML files, URDF files do not manage drive speed information, motor and robot characteristics information, collision detection thresholds, or motion profile information, so users must modify these directly.

../_images/ROBOT_OPTION_DOC_PROGRAMMING_GUIDE_URDF_ARCHITECTURE.png Robot Parameter URDF File Structure Diagram