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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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Run simple forcetorque example with gazebo-yarp-plugins with Gazebo Classic #1

Closed traversaro closed 1 year ago

traversaro commented 1 year ago
GiacomoBisio commented 1 year ago

We completed the first two points. We didn't run the forcetorque example because it wasn't present in the folder "tutorial/model", but we ran the camera example.

traversaro commented 1 year ago

Cool, great! @GiacomoBisio @lucapa17 I will try to add the forcetorque example this afternoon so you can play with it.

traversaro commented 1 year ago

@GiacomoBisio @lucapa17

Ok, I added it in https://github.com/robotology/gazebo-yarp-plugins/pull/648 . Feel free to comment there if there is anything not clear, if you are not familiar with how PRs work, check https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/about-pull-requests .

lucapa17 commented 1 year ago

We would like to know in a more specific way what do you mean with "run simulation", because we think we succeeded in opening gazebo and load the different models (camera, forcetorque, etc..) but we haven't understood precisely what we should do in order to read data from the sensors with yarp. Could you list step by step the procedure to follow? Thank you very much and sorry for the misunderstanding.

traversaro commented 1 year ago

Thank you very much and sorry for the misunderstanding.

Please, no need to add an excuse for any question. This is exactly the reason we are here, feel free to ask any question!

I do not know if you saw the README for that tutorial in https://github.com/robotology/gazebo-yarp-plugins/blob/35fa088fa993fec83f0a14eabc4a502d3253ff7f/tutorial/model/forcetorque/README.md . In particular the yarp read command can be useful to read data that is sent on the YARP port by the simulation.

lucapa17 commented 1 year ago

Okay, perfect! We followed the tutorial for forcetorque example and it works. Thank you very much!

traversaro commented 1 year ago

Hello @lucapa17 @GiacomoBisio, if we are done with this task we can close this issue. In the meanwhile, you can start working on two other issues that I think are the next steps on your work:

GiacomoBisio commented 1 year ago

Ok, everything has been done correctly. Let's close this issue.