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Chapter 4: URDF for Humanoid Robots

Template

This is a template file. Fill in content from specs/001-physical-ai-book-specs/spec.md lines 455-536. Use Chapter 1 (01-introduction.mdx) as a formatting reference.

Chapter Purpose & Audience​

TODO: Add content from spec.md lines 457-458

Learning Objectives​

TODO: Add 3-6 learning objectives from spec.md lines 460-465

Prerequisites​

  • Completed Chapters 1-3
  • Understanding of coordinate frames and transforms
  • Basic XML knowledge helpful

Key Concepts​

TODO: Add content from spec.md lines 467-476:

  • URDF structure
  • Links and joints
  • Kinematic chains
  • Visual vs. collision geometry
  • Inertial properties
  • Xacro for modularity

URDF Structure​

TODO: Add URDF structure explanation from spec.md

Basic URDF Example​

<!-- TODO: Add simple URDF example -->
<robot name="humanoid_arm">
  <!-- Links and joints here -->
</robot>

Humanoid-Specific Considerations​

TODO: Add humanoid robot modeling specifics from spec.md lines 478-486

Diagrams / Architecture Notes​

TODO: Add Mermaid.js diagrams from spec.md lines 488-492:

  • URDF Structure Diagram
  • Humanoid Kinematic Tree
  • Joint Types Diagram

Practice Tasks​

TODO: Add practice tasks from spec.md lines 494-500

Summary​

TODO: Add summary points from spec.md lines 502-511

References​

TODO: Add references from spec.md lines 513-536

Congratulations! You've completed Module 1: ROS 2 Foundations.

Next Module: Module 2: Digital Twin →