How to export URDF files from Simscape Multibody XML

I managed to load a Onshape document into Simscape Multibody using this tutorial: - https://uk.mathworks.com/help/physmod/sm/ref/smexportonshape.html

I now would like to export it in URDF format but could not find any help online.

Is there a way to do this?

Thanks for your help

Answer 1

[Hugo Tadashi Kussaba]

The urdfExporter function was implemented in Robotics system toolbox since version R2023b and it can be used to generate a URDF file from a rigidBodyTree object.

Answer 2

[Prashant Arora]

I don't believe there is a method available from MathWorks to convert a Simscape Multibody XML file to a URDF file. This is primarily because the Multibody XML file only contains a subset of information from the URDF file. You can try using an intermediate software like SolidWorks or Creo, which offer URDF exporters.

[Walter Roberson]

In particular with SolidWorks you could in theory use the ActiveX interface in ways similar to simscape multibody link does, to command SolidWorks to produce the output for you, if you are using Windows . A similar technique can be used with some other software; I just do not tend to read about other packages.