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How to simulate food items in gazebo

asked 2012-02-14 04:54:04 -0500

shreeshga gravatar image

updated 2014-11-22 17:05:42 -0500

ngrennan gravatar image

We need to work on project which involves PR2 to pickup food items from a container[bowl] using a fork/spoon. But since we are very new to ROS/Gazebo, we are not sure about which type of food we can simulate on gazebo [i.e rice,fruit pieces,cereals etc].

Does anybody know of exiting food item models on gazebo or how difficult is it to create such models?

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answered 2012-02-14 06:14:21 -0500

DimitriProsser gravatar image

Give Blender a try. It's simple and easy to use. It can export to all ROS-support mesh types to be used in Gazebo. You won't be able to simulate the texture of foods (Gazebo bodies are rigid), but you can certainly create the shapes in no time at all.

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Thanks, guess will have to approximate food items to rigid shapes.

shreeshga gravatar image shreeshga  ( 2012-02-14 14:22:58 -0500 )edit

answered 2012-02-14 10:09:12 -0500

As @DimitriProsser said, simulating non-rigid bodies in Gazebo is tricky and not supported natively. An example of how such bodies can still be emulated by using particles can be seen in this video, but that is a special case that probably required quite some effort to realize.

Some rigid foot items like a milk carton and others are available in the cob_gazebo_worlds package, in case you don't want to model them yourself. Spawned into the IPA kitchen environment, they look like in this image:

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Asked: 2012-02-14 04:54:04 -0500

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Last updated: Feb 14 '12