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▶️ 🔎 From a terminal, launch ros2 launch mecharm_moveit_config gazebo2.launch.py, then open the VNC window from your browser at http://localhost:6080. You should see a simulation of our robot sitting on a plane next to a box, a coke can and some other objects:
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▶️ 🔎 Open the file /workspaces/RBT1001/src/mecharm_gazebo/worlds/pick_and_place_demo.world. This is the "world" file that was launched with the previous command. Explore its content to see how physics parameters are set and how objects are added into it. You can also try to modify it (and relaunch the previous command) to see how it changes the simulation.
- You can try launching different worlds in the
/workspaces/RBT1001/src/mecharm_gazebo/worlds folder by specifying the name of the world. For example: ros2 launch mecharm_moveit_config gazebo2.launch.py world_file:=house.world
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▶️ 🔎 In the folder /workspaces/RBT1001/src/mecharm_gazebo/models instead, you can find a collection of objects that can be added to the scene. For example, open with the editor one of the .sdf files for an object (such as /workspaces/RBT1001/src/mecharm_gazebo/models/brown_table/model.sdf) and set the value of the static argument from true to false: <static>false</static>. If you relaunch the simulation and move the object around, you will see that it is affected by gravity.
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▶️ 🧑💻 By modifying the world file, you can create your own environment. You can find a repository of objects and worlds at https://app.gazebosim.org/dashboard.