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I will answer my own question here:

I decided to spawn objects only in gazebo to simulate automated object picking. To do this, I defined a SDF file using STL and import necessary classes from gazebo_msgs.srv to spawn and delete objects in the gazebo world. Whoever needs to do the same thing can refer my repository:

https://github.com/kidpaul94/kmr-iiwa-gripkit-cr-plus-l/tree/main/auto_pick/src

I will answer my own question here:

I decided to spawn objects only in gazebo to simulate automated object picking. pick up. To do this, I defined a SDF file using STL and import necessary classes from gazebo_msgs.srv to spawn and delete objects in the gazebo world. Whoever needs to do the same thing can refer my repository:

https://github.com/kidpaul94/kmr-iiwa-gripkit-cr-plus-l/tree/main/auto_pick/src