{"id":19963330,"url":"https://github.com/advrhumanoids/iit-gazebo-worlds-pkg","last_synced_at":"2026-02-06T05:02:51.800Z","repository":{"id":39650041,"uuid":"483535058","full_name":"ADVRHumanoids/iit-gazebo-worlds-pkg","owner":"ADVRHumanoids","description":"Collection of Gazebo worlds useful for simulations","archived":false,"fork":false,"pushed_at":"2025-09-17T15:55:37.000Z","size":28804,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":3,"default_branch":"main","last_synced_at":"2025-09-17T18:02:04.230Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2022-04-20T06:32:45.000Z","updated_at":"2025-09-17T15:55:43.000Z","dependencies_parsed_at":"2025-09-17T17:44:41.468Z","dependency_job_id":null,"html_url":"https://github.com/ADVRHumanoids/iit-gazebo-worlds-pkg","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ADVRHumanoids/iit-gazebo-worlds-pkg","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-gazebo-worlds-pkg","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-gazebo-worlds-pkg/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-gazebo-worlds-pkg/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-gazebo-worlds-pkg/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/iit-gazebo-worlds-pkg/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fiit-gazebo-worlds-pkg/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29151572,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-06T02:39:25.012Z","status":"ssl_error","status_checked_at":"2026-02-06T02:37:22.784Z","response_time":59,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:15:37.540Z","updated_at":"2026-02-06T05:02:51.764Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# iit-gazebo-worlds-pkg\nCollection of Gazebo worlds useful for simulations. This repo has been though to provide _a ready to use_ launch files to show models in the gazebo world useful for robotics simulations. \n\n## Usage\nIn order to use what the package provides, there are two ways. In particular, you can import and run a new gazebo world (with what you need) running the launch file which have the prefix _view_. As for example:\n\n```bash\nroslaunch iit_gazebo_worlds_pkg view_table_box.launch\n```\n\nIn this case, you should see something like this\n\n![Schermata da 2022-05-13 10-27-24](https://user-images.githubusercontent.com/15608027/168243428-b6c25a0e-12da-4477-82de-eb83c37c490e.png)\n\nIndeed, if you just want to add a model stored in this package in your already existing gazebo world, you have to use the launch files with the prefix _spawn_. In this way, the model you require, it will spawn and loaded into the gazebo world already opened. For example, you can run \n\n```bash\nroslaunch iit_gazebo_worlds_pkg spawn_table.launch\n```\n\nand the model of the table will be added in the gazebo world.\nFurthermore, it is possible to change the pose of the object through directly change the parameters inside the launch file. This, it is only possible with the launch files with the prefix _spawn_ since they were meant to be used with the simulation and the launch files with the prefix _view_ are more aimed just to see the model how it looks like. \n\nThen, for example, if you open with an editor the file _spawn_table.launch_, you should see something like this\n\n```html\n\u003claunch\u003e\n  \u003c!-- Show Gazebo GUI on launch --\u003e\n  \u003cinclude file=\"$(find iit_gazebo_worlds_pkg)/launch/spawn_sdf.launch\"\u003e\n    \u003carg name=\"robot_name\" value=\"table\"/\u003e\n    \u003carg name=\"x\" value=\"1.12\"/\u003e\n    \u003carg name=\"y\" value=\"0.0\"/\u003e\n    \u003carg name=\"z\" value=\"0.0\"/\u003e\n    \u003carg name=\"roll\" value=\"0\"/\u003e\n    \u003carg name=\"pitch\" value=\"0\"/\u003e\n    \u003carg name=\"yaw\" value=\"1.5708\"/\u003e\n    \u003carg name=\"sdf_robot_file\" value=\"$(find iit_gazebo_worlds_pkg)/models/table/model.sdf\"/\u003e\n  \u003c/include\u003e\n\u003c/launch\u003e\n```\n\nwhere changing the params _x_, _y_, _z_, _roll_, _pitch_ and _yaw_ you can change the pose of the object with respect to the gazebo world frame.\n\n## Objects\nObjects inside 3DGems are taken from https://data.nvision2.eecs.yorku.ca/3DGEMS/, with sdf modified for easy spawning. Check the util launch `3DGems/object.launch`\nA lot of them require some fixing/testing (like inertial, and fixed joints for models with more links) so feel free to fix them ;). One nice tool to find inertia of dae: https://github.com/vonunwerth/MeshLabInertiaToURDF\n\n## To Contribute\n\nOf course, any contribution is super welcomed! The only thing I ask you it is to follow the structure of the repo. \nIn this way, we can keep all the things consistently. In the case, the structure of the repo does not fit your requirement, please create an apposite branch :). Thank you :).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fiit-gazebo-worlds-pkg","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fiit-gazebo-worlds-pkg","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fiit-gazebo-worlds-pkg/lists"}