Physical AI Lab

Compare URDF and SDFormat for robot links, joints, frames, sensors, physics and worlds, and learn how to validate model conversion in Gazebo.

Design robot time synchronization with PTP, NTP and hardware timestamps by checking clock domains, offset, drift, jitter, load and recovery.

Use rosbag2 reliably by checking topic coverage, QoS, timestamps, burst throughput, storage, compression, clock behavior and safe playback.

Design ROS 2 lifecycle nodes for robot startup, shutdown and recovery with readiness gates, safe inactive behavior, supervisors and fault tests.

Understand ROS 2 executors and callback groups, then diagnose blocking, deadlocks, hidden serialization, wait time and missed robot deadlines.

Learn ros2_control hardware interfaces, Resource Manager, Controller Manager, read-update-write loops, controller claims and commissioning tests.

Learn how ZMP, capture point and MPC coordinate humanoid balance, push recovery, stepping, state estimation, actuator limits and safety tests.

Understand map, odom, base, sensor and tool frames in ROS 2 TF2, then debug direction, time, tree and calibration errors systematically.

Compare four collaborative robot safety modes and learn how to validate stopping, separation, contact, restart and application changes.

Choose ROS 2 QoS for sensors and commands by freshness, loss, queueing and failure behavior, then validate compatibility under network stress.