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The best way of having my model in gazebo

I have a SOLID-WORKS model of a humanoid robot , which of the following is the best to import and have my model in gazebo: 1. Saving different parts of the robot in STL format, adding them from "model editor" environment and the defining relations and joints in gazebo model editor. 2. Downloading SW2URDF add-in for SOLID-WORKS use it for defining joints and tree structure, saving the URDF file and open in in gazebo. (which I haven't found a proper tutorial for so I actually don't know how should I do :( ). 3. Any better way you suggest :)

The best way of having my model in gazebo

I have a SOLID-WORKS model of a humanoid robot , which of the following is the best to import and have my model in gazebo: gazebo:
1. Saving different parts of the robot in STL format, adding them from "model editor" environment and the defining relations and joints in gazebo model editor. editor.
2. Downloading SW2URDF add-in for SOLID-WORKS use it for defining joints and tree structure, saving the URDF file and open in in gazebo. (which I haven't found a proper tutorial for so I actually don't know how should I do :( ). ).
3. Any better way you suggest :) :)

The best way of having my model in gazebo

I have a SOLID-WORKS model of a humanoid robot , and I wounder which of the following is the best to import and have my model in gazebo:
1. Saving different parts of the robot in STL format, adding them from "model editor" environment and the defining relations and joints in gazebo model editor.
2. Downloading SW2URDF add-in for SOLID-WORKS use it for defining joints and tree structure, saving the URDF file and open in in gazebo. (which I haven't found a proper tutorial for so I actually don't know how should I do :( ).
3. Any better way you suggest :)

The best way of having my model in gazebo

I have a SOLID-WORKS model of a humanoid robot and I wounder wonder which of the following is the best to import and have my model in gazebo:
1. Saving different parts of the robot in STL format, adding them from "model editor" environment and the defining relations and joints in gazebo model editor.
2. Downloading SW2URDF add-in for SOLID-WORKS use it for defining joints and tree structure, saving the URDF file and open in in gazebo. (which I haven't found a proper tutorial for so I actually don't know how should I do :( ).
3. Any better way you suggest :)

The best way of having my model in gazebo

I have a SOLID-WORKS model of a humanoid robot and I wonder which of the following is the best to import and have my model in gazebo:
1. Saving different parts of the robot in STL format, adding them from "model editor" environment and the then defining relations and joints in gazebo model editor.
2. Downloading SW2URDF add-in for SOLID-WORKS use it for defining joints and tree structure, saving the URDF file and open in in gazebo. (which I haven't found a proper tutorial for so I actually don't know how should I do :( ).
3. Any better way you suggest :)