= Testing the simulation installation =
First of all open a console and source the workspace:

 . {{{
cd /tiago_dual_public_ws/
source ./devel/setup.bash
}}}

The public simulation of TIAGo++ allows two different versions of the end-effector:

 * a parallel gripper

 * the under-actuated 5-finger Hey5 hand.

To launch the simulation of the TIAGo++ with a 6-axis force/torque sensor in each wrist and the parallel gripper, execute:

 . {{{
roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true end_effector_left:=pal-gripper end_effector_right:=pal-gripper
}}}

{{attachment:tiago++_gazebo_grippers.jpg||align="middle",width="600"}}

The version with a 6-axis force/torque sensor in each wrist and the Hey5 hand can be launched as follows:

 . {{{
roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true
}}}

{{attachment:tiago++_gazebo_hands.png||align="middle",width="600"}}

The version with the TIAGo OMNI ++:

 . {{{
roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true base_type:=omni_base
}}}

{{attachment:TIAGo_OMNI_dual.png||align="middle",width="600"}}

If you manage to launch these three simulations then the installation has been successful. If the 3rd one is not working you would need to update your docker image or install the latest changes. 

If you encounter any issues when trying to run gazebo inside the rocker verify that your drivers are up to date and that your PC configuration includes either nvidia GPU or Intel CPU

If you are facing this issue on a laptop, run {{{ nvdia-settings }}} and go in the PRIME Profiles section

{{attachment:nvidia-settings.png||align="center", width="300"}}

If you launched the rocker with nvidia support choose the NVIDIA (Performance Mode)

If you launched the rocker with intel support choose NVIDIA On-Demand (Default)

Restart the laptop and it should work


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