Chapter 10: Simulating Humanoids

Overview

What You'll Learn: Humanoid simulation, locomotion, balance

Estimated Time: 6-8 hours

Core Concepts

Simulating Humanoids enables safe testing of robot behaviors in virtual environments. Key topics include world creation, robot integration, and physics tuning.

Implementation

Setup Gazebo

sudo apt install ros-humble-gazebo-ros-pkgs

Launch Robot

ros2 launch gazebo_ros gazebo.launch.py

Lab: Simulate Robot

Create Gazebo world, spawn robot, test basic behaviors.

Summary

Simulation accelerates development while reducing hardware risks.

Next: Chapter 11