STEP Import Tool

The STEP Import tool allows for STEP files to be loaded and converted into URDF format, so that the STEP file can be altered and used in work cells.

When imported, the tool will convert each assembly and part into joint/link pairs with the naming convention “part-name”_joint and “part-name”_link. Each body will be converted into a mesh visual body.

Once completed, the converted STEP will be placed into a link connected to the root of the cell, labelled “imported”.

Step Import Dialog

Settings

The STEP Import tool has the following options that can enabled and adjusted when imported STEP models into Cell Editor:

Remove Small Parts

If enabled, this will remove parts smaller than the minimum size specified under this option.

Hull Generation

If enabled, generates collision bodies around the bodies imported from the STEP file. The margin and type of these collision bodies can be adjusted.

The type of collision bodies generated is limited to bounding box and Convex Hull.

Grouping

If enabled, groups objects depending on their overlapping volume. The percentage of overlapping volume required before grouping objects can be set by adjusting the Group overlap percentage.