Sometimes we need to add new objects to Gazebo to build a dynamic environment, particularly in some manipulation tasks. Suppose we test if the robot can pick up items from the floor. Thus, we may need a program to spawn models in a random position in the environment to verify our manipulation algorithms’ robustness. Like the top picture, a new cylinder is created in TIAGO’s gripper. Then TIAGO can deliver the cylinder to a free container.
Continue readingThis is a full demo of TIAGO placing items in Gazebo. The layout in the simulator comes from RoboCup@Home Virtual 2021
Continue readingosrf/rocker is a lovely docker project which make building ROS environment rapidly. It supports Ubuntu 20 and the latest Nvidia driver. ROS GUI applications and tools work properly with hardware acceleration.
However, when I tried to run Gazebo 7 under Ubuntu 20, there is no title bar on the top and I cannot resize this window.
Continue readingAlthough YCB Benchmarks has provided a series of mesh files, they still cannot be used directly in Gazebo because of the missing some of the physical properties.
I made SDF models for most YCB objects that can be used directly in Gazebo, and provided them with the following optimizations:
