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2 years ago in Robot Perception , Robotics By Simanghi

How can I create a Robosapien model for simulation in Gazebo?

What is the recommended process or workflow for creating an accurate Robosapien model for Gazebo?

RobosapienModel

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By Mukesh Answered 2 years ago

You need to create a URDF (Unified Robot Description Format) or SDF model. First, obtain or create accurate 3D mesh files (.dae, .stl) of the Robosapien's links. Then, define the kinematic tree, joints, inertial properties, and collision geometries in a URDF file. Finally, add necessary Gazebo plugins for sensors and controllers. You can start by adapting existing biped models and modifying the meshes and dimensions to match the Robosapien.

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