felixmaisonneuve
commented
1 year ago HI @WHuangEI,
Like you said, you need the third-party folder to grasp objects in gazebo. This is compiled automatically and it should work out of the box. You could share your logs from the roslaunch spawn_kortex_robot.launch ... command to see if everything was started correctly.
When you close your gripper on and object, you wait 2-3 seconds and a log should appear that says the object was grasped by the gripper.
There is no demo specifically for gazebo. You can control the arm in gazebo the same way you control a real arm. Not all functions are available however. All the available functions are listede here : https://github.com/Kinovarobotics/ros_kortex/tree/noetic-devel/kortex_examples#the-ways-to-use-a-kortex-arm-with-ros This means the same program that was working on a real arm should also work in gazebo as long as your are using services that are implemented for the simulation
Best, Felix
WHuangEI
Summary
I want to use GEN3 in GAZEBO to carry out some simulation research, and encountered some problems. 1)The gripper can 't hold objects, I learned that plugins were needed, and I found them in the third-party file, but I didn 't know how to use them. 2）and where can I find some codes or demo scripts of GEN3 simulation in GAZEBO ? Recently, due to the inability to work with real robots, the first attempt to simulate GEN3 in GAZEBO puzzled me how to start.
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