Open a text editor and create a new file with extension.Ībove snippet is for a single link, i will explain the complete procedure for writing urdf file:. URDF file creation is very simple just you have to define what is where and how is it. Personally i use FreeCad for designing but for beginners Fusion 360 is a good point to start as you can get 1 year free license as a student. This is the easiest part for all Mechanical Engineers (kuddoosss… 😍) and hobbyists who have a good experience in designing 3D parts, i am putting an YouTube playlist which are great if you are beginner in field of designing 3D parts.
So after getting exhausted by looking a good alternative of all these and trying and failing for long i finally make up my mind to use Bullet physics engine to simulate my robots and believe me its work very well and i thought of helping all other robot enthusiast out here with what i learned………įirst Step :- To create 3D models of parts of your robots.
The big daddy of this field is ROS which provides all the functioning you need from validating your idea to real-time working controllers and all other good stuff but these much functionality comes with a price of complexity (as i feel while using ROS) another rising name is CoppeliaSim which is a great piece of software and a great tool for validating your ideas to controlling them in real-time, but again what i feel problematic in CoppeliaSim is its documentation for Python Api as it is designed to use with Lua programming language. Now let’s talk about some of the available robotic simulators some big names in this field are ROS (Robot Operating System), Gazebo, CoppeliaSim, Webots and obviously keep going.
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