as for most realistic robots, the visual or collision part of them are too far complicated to manually write.
Someone with experience said using sw_urdf_exporter has several disadvantages so that he would rather write by his own.
He said **including the below disadvantages**:
1, **model without texture, one can only specify one color of one whole part of robot**( But I notice that sw_urdf_export tutorial mentions that it can export texture and there is texture folder after complete export. So, if I add texture in SW, will the texture be exported? However, he said he never use texture with sw_urdf_exporter)
2, it often goes wrong with dual arm robot (tree sturcture)
3, can not applied to parallel robot
4, visual model and collision model are the same
5, easy to introduce unnecessary error, which are not identical to design parameters.
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I would like to know, if I write a urdf on my own, if the most critical part is writing the origin between joints and links, then as for **visual part and collision part**, actually they could be **dae file** exported by **blender**.
**Here are the two optional processes:**
1,
a) break solidworks models into parts or sub-assemblies, set reference coordinate systems and axes for them.
b) save as iges file
c) import to 3d max, export dae file
d) import to blender, modify units and coordinates which are corresponding to the description in urdf, save as dae file. done
2,
like **gazebo tutorial** says, [model apperance](http://gazebosim.org/tutorials?tut=guided_i2)
a) step file imported to freecad, freecad exports dae file
b) import to blender, modify units and coordinates which are corresponding to the description in urdf , save as dae file. done
I wonder if what I perceive is right? Or, could u pls give me recommendations?
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