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@chapulina already described the instructions for running multiple instances of Gazebo. Here are some additional notes that can help when working with the HAPTIX environment:

You should be able to isolate a Gazebo instance and your HAPTIX controllers with the help of the IGN_PARTITION environment variable. If you set this environment variable in the terminal where you launch Gazebo and in the terminal that you use to control the arm, other Gazebo instances shouldn't be affected by your controller. E.g.:

On terminal 1:

IGN_PARTITION=arm1 gazebo <your_world>

On terminal 2:

IGN_PARTITION=arm1 ./<my_controller>

Replace <your_world> with the appropriate Gazebo .world file and <my_controller> with the program that you're using for controlling the simulated arm.

@chapulina already described the instructions for running multiple instances of Gazebo. Here are some additional notes that can help when working with the HAPTIX environment:

You should be able to isolate a Gazebo instance and your HAPTIX controllers with the help of the IGN_PARTITION IGN_PARTITION environment variable. If you set this environment variable in the terminal where you launch Gazebo and in the terminal that you use to control the arm, other Gazebo instances shouldn't be affected by your controller. E.g.:

On terminal 1:

IGN_PARTITION=arm1 gazebo <your_world>

On terminal 2:

IGN_PARTITION=arm1 ./<my_controller>

Replace <your_world> with the appropriate Gazebo .world file and <my_controller> with the program that you're using for controlling the simulated arm.