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Robot Operating System Cookbook by Kumar Bipin

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3D modeling and simulation of an industrial robot and MoveIt!

In this section, we will discuss how to create an URDF file for an industrial robot. We will go through some basic steps on how to create an URDF file for an industrial robot.

As we already know, the URDF is an XML format file that is used to represent a robot model. The URDF file of a robot is the file that describes everything about it, from the visual part and how it looks, to the physical part such as the collision data or the inertia data. URDF files are widely used for representing robots in regular ROS systems. In the case of ROS-I, they are also used for representing industrial robots, but with some peculiarities that we are going to check during this section. Keep in mind ...

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