Creating custom actor using blender

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I am trying to create a human model to use in gazebo_ros using Blender. My main objective is to be able to control human joints as I wanted.

I have created a rigged object in Blender and exported it as both BVH and COLLADA. I am able to spawn my actor in the world when I have COLLADA for both skin and animation in the model.sdf but I don't get any joints. It looks like a pure mesh model without any skeleton. I cannot get the model if I use BVH format for both skin and animation tags. It gives no errors but just does not show up anything.

In fact, I am quite new to animating things in Gazebo. I am even not sure if I can use <actor> for this or do I have to use human URDF, define every single body parts' mesh individually and attach them to body parts one by one manually. This way looks tedious and I want to know how to attach a skeleton into skin, basically.

• Am exporting the rigged object wrong?
• Am I supposed to use something else than <actor> ?
• Am I even right track or is there anyone who can tell me how to do it?

Thanks