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Commit 6ba16756 authored by Alain Junior Ngoko's avatar Alain Junior Ngoko
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modification du monde gazebo et du fichier world pour inclure les objets ycb

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......@@ -9,12 +9,23 @@
<!-- Gazebo specific options -->
<arg name="gazebo_gui" default="true" />
<arg name="paused" default="false" />
<!-- overwriting these args -->
<arg name="debug" default = "false"/>
<arg name="gui" default = "false"/>
<arg name="pause" default = "true"/>
<arg name="world" default = "$(find panda_moveit_config)/worlds/empty_world.world"/>
<env name="GAZEBO_MODEL_PATH" value="$(find panda_moveit_config)/gazebo_ycb/models:$(optenv GAZEBO_MODEL_PATH)"/>
<!-- Launch the gazebo simulator and spawn the robot -->
<include file="$(find franka_gazebo)/launch/panda.launch" pass_all_args="true">
<arg name="headless" value="$(eval not arg('gazebo_gui'))" />
<arg name="use_gripper" default="$(arg load_gripper)" />
<arg name="controller" default="$(arg transmission)_joint_trajectory_controller" />
</include>
<include file="$(dirname)/demo.launch" pass_all_args="true">
......
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