URDF for Robot Modeling Python
Understanding robot modeling using URDF
As human beings, we learn from a very young age about our body’s structure: which bones and muscles are part of it, how they are connected, how we can move each part, etc.
For a robot, though, how can we know all this information? Well, this is exactly what URDF files are going to tell us. URDF files define the structure of a robot, the connection between all the different parts, etc.
In this course, you will understand how URDF files work, and how to create them for any robot.
- Build a visual robot model with URDF
- Add physical properties to a URDF Model (Collision, Frictions, etc.)
- Use XACRO to clean up URDF files
- Use URDF in the Gazebo-ROS ecosystem
Simulation robots used in this course
Gurdy robot, Jibo robot, Mira robot
What projects will you be doing?
Create your first URDF Model
Go from a physical robot to a visual virtual model
Adapt URDF for Gazebo Simulator
Add the collisions, inertias, and gazebo physical properties
URDF + XACRO
Use XACROs in order to simplify a URDF file
Create your own Jibo
Create a Jibo robot from scratch and simulate it in Gazebo
What you will learn
Unit 1: URDF Introduction
- Practice First: Play with Jibo, Mira, and Gurdy Robots.
- Why URDF Files are essential in Robotics.
Unit 2: Building the Visual Robot Model with URDF
- Create your first URDF Model
- Add a 3D model to your URDF files
Unit 3: Using URDF for Gazebo
- Add physical properties to your URDF files.
- Spam the URDF files into Gazebo.
- Add a sensor to your URDF files
2 hrs. 30 min.
Unit 4: QUIZ: Create the URDF files for a Gurdy Robot from scratch
Unit 5: XACRO files
Learn how to optimize your URDF files using XACRO
Unit 6: PROJECT: Create the URDF files for a Jibo Robot from scratch
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