hsr-project/tmc_wrs_gazebo

tmc_wrs_gazebo

LICENSE

This software except object models is released under the BSD 3-Clause Clear License, see LICENSE.txt.

Regarding the license of object models, see README.md in the tmc_wrs_gazebo_worlds package.

tmc_wrs_gazebo's Issues

Objects are spinning on the spot

Hey,

we are experiencing the issue that objects in the simulator are spinning on their own. The smaller/lighter the object the faster they spin.
Video recording of the behaviour: https://cloud.uni-koblenz.de/s/PKAapcNapByiJsy

Is this a known issue?

Thanks
Team Homer@UniKoblenz

Error to spawn object with specific seed

During our tests, we set the seed 65.
An error occurs and only the objects in the first room spawn.

See below the error :

Traceback (most recent call last):
simulator_1  |   File "/opt/ros/melodic/lib/tmc_wrs_gazebo_worlds/spawn_objects", line 300, in <module>
simulator_1  |     X = generate_scatter(place[0][0], place[1][0], place[0][1], place[1][1], n, 0.2)
simulator_1  |   File "/opt/ros/melodic/lib/tmc_wrs_gazebo_worlds/spawn_objects", line 222, in generate_scatter
simulator_1  |     dist = np.min(pdist(X))
simulator_1  |   File "/usr/lib/python2.7/dist-packages/numpy/core/fromnumeric.py", line 2372, in amin
simulator_1  |     out=out, **kwargs)
simulator_1  |   File "/usr/lib/python2.7/dist-packages/numpy/core/_methods.py", line 29, in _amin
simulator_1  |     return umr_minimum(a, axis, None, out, keepdims)
simulator_1  | ValueError: zero-size array to reduction operation minimum which has no identity
simulator_1  | ct_in_box_detector)
simulator_1  |     fork_in_containerb_detector (tmc_gazebo_task_evaluators/object_in_box_detector)
simulator_1  |     gazebo (gazebo_ros/gzserver)
simulator_1  |     gazebo_gui (gazebo_ros/gzclient)
simulator_1  |     gripper_controllers_spawner (controller_manager/spawner)
simulator_1  |     home_gripper (pal_gripper_controller_configuration/home_gripper.py)
simulator_1  |     hsrb_in_humanleftfront_detector (tmc_gazebo_task_evaluators/object_in_box_detector)

I'm currently trying to convert gazebo sdf file to usda file

Hi, I'm currently trying to convert gazebo sdf file to usda file.
http://sdformat.org/tutorials?tut=convert_sdf_to_usd&ver=12&cat=developers&
By using sdf2usd, sdf version 1.6 can be converted to usda. It would be great if wrs gazebo has sdf that is version 1.6.