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Interbotix / interbotix_ros_manipulators

ROS Packages for Interbotix Arms
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[Question]: Gazebo Simulation #167

Closed manishvel8 closed 6 months ago

manishvel8 commented 7 months ago

Question

Hi Team, How to operate the Interbotix WX200 arm in a Gazebo virtual simulation. Also, what files will be supported while importing a new model?

Robot Model

wx200

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

No response

manishvel8 commented 7 months ago

Also, tell us the steps for how to import the model into the Gazebo simulation.

lukeschmitt-tr commented 7 months ago

For details on launching the Gazebo demo package, see the Gazebo configuration docs.

The arm launched by the Gazebo packages can be controlled using MoveIt. See the MoveIt Configuration package docs and the MoveIt Interface package docs for details. Note that the Interbotix Python-ROS API is not compatible with robot simulated in Gazebo.

manishvel8 commented 7 months ago

So we launched a gazebo. In that gazebo, our interbotix arm is also moving. Now we want to import a tic-tac-toe board beside our arm in the gazebo simulation. How do I import tic-tac-toe boards in Gazebo? What files will be supported for importing in Gazebo?

manishvel8 commented 7 months ago

So we launched a gazebo. In that gazebo, our interbotix arm is also moving. Now we want to import a tic-tac-toe board beside our arm in the gazebo simulation. How do I import tic-tac-toe boards in Gazebo? What files will be supported for importing in Gazebo?

@LSinterbotix any update here?

lukeschmitt-tr commented 7 months ago

Please see the Gazebo tutorials to get answers to questions like these.

You'll first need to create models for each unique component in your game and then either create a world placing your object where needed, or spawn them in using the ROS-Gazebo entity spawner.

manishvel8 commented 7 months ago

Also, tell us the steps for how to import the model into the Gazebo simulation.

lukeschmitt-tr commented 7 months ago

You should create a world that contains your model, or use the ROS-Gazebo entity spawner to spawn custom models into an existing world. See my previous comment for links.

manishvel8 commented 7 months ago

I'm asking which file will be supported for importing models in the gazebo virtual simulation. whether it is STL files or SDF files?

lukeschmitt-tr commented 7 months ago

I believe Gazebo supports mesh geometry files in the formats STL, DAE, and OBJ. You can create an SDF file to describe your model, or you can spawn in a URDF-based robot description using their entity spawner. See their tutorials for more information.

lukeschmitt-tr commented 6 months ago

Do you have any further questions on this? Otherwise, this issue will be closed.