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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?


Originally posted by shreeshga on ROS Answers with karma: 3 on 2012-02-14

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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.


Originally posted by DimitriProsser with karma: 11163 on 2012-02-14

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Comment by shreeshga on 2012-02-14:
Thanks, guess will have to approximate food items to rigid shapes.

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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:

image description


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2012-02-14

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