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 reading
This video is a personal work made for studying, and does not represent the official views of universities.
This is a full demo of TIAGO placing items in Gazebo. The layout in the simulator comes from RoboCup@Home Virtual 2021Continue reading