This project started with an internal project to create a URDF editor using QT widgets and leveraging an RViz plug-in as the 3D visualization environment (refer to Figure 2). Milestone 1 software development began with this preliminary URDF editor as a starting point, will add and test any missing functionality until it meets requirements (described below).
From the Workbench GUI file menu, a user may browse folders to create a new or open an existing URDF or xacro. Note that xacros are the preferred way to encapsulate kinematic chain data so it may be reused to build more complex URDFs. Add an existing URDF or xacro to a second URDF or xacro From the Workbench GUI tree, a user may insert an existing URDF or xacro into the currently open file.
From the Workbench GUI tree, a user may add new joints and links to the tree, and may promote or demote joint and link in the parent/child tree.
From the Workbench GUI tree, a user may select a joint or link in the tree, expand its properties, and edit the properties via text or spin box. Display changed properties instantly in the 3D environment Any property change will instantly update the 3D environment model. This will eliminate the need to reload 3D environment from the command line to observe the effects of property changes.
From the Workbench GUI, a user may browse to a 3D model geometry (Collada, STEP, or STL) and assign this geometry to a kinematic link. Imported assemblies will be treated as single parts (refer to Figure 3). Full kinematic chain import is a task left to Milestone 3 (refer to the roadmap section).
From the Workbench GUI tree, a user may select individual link geometry to convert to simplified collision geometry (i.e. convex hull). Collision geometry may be scaled by a homogenous scale factor about its centroid to provide a margin for error.
From the Workbench GUI tree, a user may select links to hide or display.