URDF for Robot Modeling Course - Python

Understanding robot modeling using URDF

Course Summary

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 between them, how we can move each articulation, 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.

What you will learn

How to build a visual robot model with URDF
How to add physical properties to a URDF Model (Collision, Frictions…)
How to use XACRO to clean up URDF files.
How to use URDF in Gazebo-ROS ecosystem.

Course Overview

URDF Introduction

Know which robots you will create

Building the Visual Robot Model with URDF

Learn the use of URDF files and the tools to help you create your first PixarLike robot.

Using URDF for Gazebo

Learn what to add to your URDF for being able to use it in Gazebo Simulator to spawn a robot.

Create the URDF files for a Gurdy Robot from scratch

Practice what you have learned to create a completely different three legged robot.

XACRO Basics

Learn the basics of XACRO files

Project: Advanced XACRO and Create your own Boxing Robot

Learn some advanced XACRO elements and apply all you learn in a project.

Teachers

Miguel Angel Rodriguez

Crashing engineering problems. Building solutions.

Robots used

box_boxer robot

Gurdy robot

JIBO robot

Mira robot

Motoman Sia10f simulation robot

Learning Path

ROS For Beginners