Simulation Worlds ================= DelibFlow ships with three Gazebo worlds. You pick one via the ``world`` argument when launching the bringup. All worlds are SDF 1.9 format and use the Gazebo Harmonic physics engine (DART). Switching worlds ---------------- Pass the world name to the bringup launch file: .. code-block:: bash ros2 launch tiago_demos tiago_bringup.launch.py world:= Available worlds ---------------- minimal_world (default) ~~~~~~~~~~~~~~~~~~~~~~~ A bare-bones world with just a ground plane. It loads fast, which makes it perfect for quickly iterating on behavior tree logic when you do not need any obstacles or objects around. .. code-block:: bash ros2 launch tiago_demos tiago_bringup.launch.py world:=minimal_world Use this when: * You are writing or debugging a new behavior tree * You want the simulation to start as fast as possible * Navigation or manipulation details do not matter yet test_world ~~~~~~~~~~ A more practical environment with furniture and objects: boxes, tables, counters, a trash bin, and a desk. This is the go-to world for testing navigation and basic manipulation. .. code-block:: bash ros2 launch tiago_demos tiago_bringup.launch.py world:=test_world Use this when: * You want to test navigation around real obstacles * You are placing ArUco markers on objects for pick-and-place testing world ~~~~~ A full home environment with multiple rooms: a bathroom (toilet, sink, bathtub), a kitchen, a bedroom, shelves, cabinets, and a bedside table. This is the richest world and is used by the prebuilt ``map_locations.yaml`` config with all its predefined waypoints (Dining, Bedroom, Kitchen, Trash, Closet, Office). .. code-block:: bash ros2 launch tiago_demos tiago_bringup.launch.py world:=world Use this when: * You are running the included demo behavior trees as intended * You want to test navigation across long distances and multiple rooms World assets ------------ All world files live under ``tiago_sim/worlds/``. Model assets (furniture, objects, food items) are under ``tiago_sim/models/``. You can add or modify models there and reference them in your own custom SDF worlds.