Gazebo

Gazebo is our default simulator. Follow the instructions on the next section to install and run a simulation of our robot hands using Gazebo.

Starting a robot simulation

First you need to start the hand container by either double clicking the icon 1 - Launch Server Container in the “Shadow Advanced Launchers” folder.

Shadow Dexterous hands

  • To start the simulation, you can run:

    roslaunch sr_robot_launch srhand.launch sim:=true hand_type:="hand_g"

  • If it is a left hand, side:=left should be added. For example:

    roslaunch sr_robot_launch srhand.launch sim:=true hand_type:="hand_g" side:=left

  • Moveit will enable advanced behaviour (inverse kinematics, planning, collision detectection, etc…), but if it is not needed, you can set use_moveit:=false

Bimanual hand system

Bimanual

To start the simulation of a bimanual system, you can run:

roslaunch sr_robot_launch sr_bimanual.launch sim:=true right_hand_type:="hand_g" left_hand_type:="hand_g" left_hand_version:="G1M5" right_hand_version:="G1M5"

Unimanual arm and hand system

../_images/sim_unimanual_2.png

To start the simulation of a unimanual right system, you can run:

roslaunch sr_robot_launch sr_right_ur10arm_hand.launch sim:=true hand_type:="hand_g"

To add a scene, you can add scene:=true and you our default scene. You can also add your own scene adding a scene_file parameter.

../_images/sim_unimanual.png

Similarly, to start the simulation of a unimanual left system, you can run:

roslaunch sr_robot_launch sr_left_ur10arm_hand.launch sim:=true hand_type:="hand_g"

Bimanual arm and hand system

../_images/sim_bimanual_arm_2.png

To start the simulation of a bimanual arm and hand system, you can run:

roslaunch sr_robot_launch sr_bimanual_ur10arms_hands.launch external_control_loop:=false sim:=true arm_speed_scale:=0.7 scene:=true left_hand_type:="hand_g" right_hand_type:="hand_g" left_hand_version:="G1M5" right_hand_version:="G1M5"

To add a scene, you can add scene:=true and you will see our default scene.

../_images/sim_bimanual_arm.png

You can also add your own scene adding a scene_file parameter.

Installing the simulator in a different computer

Follow these instructions if do not have a real hand but would like to use our hand in simulation or you want to install only the simulator in a different computer.

  • ROS Noetic (Recommended):

    bash <(curl -Ls bit.ly/run-aurora) docker_deploy product=hand_e sim_hand=true container_name=dexterous_hand_simulated  tag=noetic-release launch_hand=true nvidia_docker=true

  • ROS Melodic:

    bash <(curl -Ls bit.ly/run-aurora) docker_deploy product=hand_e sim_hand=true container_name=dexterous_hand_simulated  tag=melodic-release launch_hand=true nvidia_docker=true

You can also add reinstall=true true in case you want to reinstall the docker image and container. When it finishes it will show:

Operation completed

and it will create two desktop icons that you can double-click to launch the hand or save the log files from the active containers to your desktop.

If you do not have an Nvidia graphics card, you can set nvidia_docker=false to avoid using nvidia-docker.

More params and their explanation can be found here.