Detailed Description

Convert scripts

Convert vendor robot models (UR, Unitree, AgileX) into Gazebo SDF files.

Prerequisites

Docker (the conversion runs inside the srdg_convert image built from docker/converter/).
The vendor models, which are not shared in this repository. Inside the container they live under /root/sas/vendor (see scripts/setup_vendor.sh and the root README.md).

Usage

Run the host_convert_* scripts from the repository root, passing the robot name as the first argument:

# Universal Robots (e.g. ur3e, ur30, ur5)
./convert/host_convert_ur.sh ur3e
 
# Unitree (e.g. b2, go2, a1)
./convert/host_convert_unitree.sh b2
 
# AgileX (e.g. r820)
./convert/host_convert_agilex.sh r820

Output

The script writes <robot>.sdf to your current working directory. Move the result into sdf/ (and register it with the Gazebo resource path) if you want it to ship with the package.

See AGENTS.md in this folder for the detailed mechanics (host vs. container scripts, invocation contract, per-vendor quirks).