Hello everyone,
I have developed a tool to support the creation of URDF files.
URDF Kitchen is a GUI-based tool that allows you to load mesh files for robot parts, mark connection points, and assemble robots by connecting nodes. It is especially useful when your CAD or 3D modeling tools cannot directly export URDF files, or when existing URDFs need to be modified.
The tool also supports exporting MJCF for use with MuJoCo.
Key features:
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Robot assembly via node-based connections
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Supports STL, OBJ, and DAE mesh files
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Export to URDF and MJCF
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Import URDF, xacro, SDF, and MJCF
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Automatic mirroring to generate the right side from a left-side assembly
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GUI-based configuration of connection points and colliders
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Supports setting only the minimum required joint parameters
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Available on Windows, macOS, and Ubuntu
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Free to use (GPL v3.0)
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Written in Python, making it easy to extend or modify features with AI-assisted coding
This is the Beta 2 release, with significant feature updates since the previous version.
Please give it a try, and I would really appreciate any feedback or bug reports.
YouTube (30s overview video):
GitHub:
https://github.com/Ninagawa123/URDF_kitchen/tree/beta2