Add gazebo environment model to nrp platform

#1

Hi,
in the environment editor, there is a hint “Environments created for Gazebo and using SDF format are compatible with the Neurorobotics platform”. My question is, how to specifically import my own Gazebo model into NRP platform? I have create an environment object model similar to “Stand Lamp” in Gazebo.

Thanks!
Cheers

#2

Hi nich,

Here are the steps for a local installation:

  • copy your model folders in $HBP/Models: cp -R my_custom_model $HBP/Models
  • run the command cd $HBP/Models && ./create-symlinks.sh

The second step makes sure your model is available for both gazebo (gzserver) and gzweb.

Best regards,
Luc

#3

Hi Luc,

Thanks for your prompt reply. I have installed the nrp from docker. I have done these two steps but still can’t see my model in the server interface (localhost:9000/#/esv-private). I have copied the files into docker container and run the command in the docker. And then restarted the docker. What could be the problem?

Best wishes
Nich

#4

Dear Nich,

If you want to see your object in the environment editor, you have to add it to $HBP/ExDFrontend/app/model_library.json and $HBP/ExDFrontend/dist/model_library.json.
And I recommend you write a script to do that from your host PC since this will be erased on every docker image update. (your model is safe though because it is in a persistent docker volume).

Best regards,
AXel