Creating Custom 3D models

Available off-the-shelf software:

• Polycam

  • Use the Remesh feature to bring down the face count to under 30,000.

Importing models into Gazebo Sim

• location

• orientation

• scale (TODO)

Use Fuel. then mesh to sdf sdf to generate new world https://gazebosim.org/api/sim/8/meshtofuel.html

Modeling

URDF, Unified Robot Description Format is an XML format for representing a robot model in ROS. https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/URDF-Main.html They can be parameterized and generated using Xacro, for situations where multiple robots follow a similar structure. Xacro is an XML macro language and can be used to clean up URDF for reuse https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.html