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SoftServeSAG / spot_simulation

This repository contains examples of simulation for Boston Dynamic's robot Spot
BSD 3-Clause "New" or "Revised" License
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Legs' state cannot be reset #11

Open sskorol opened 2 years ago

sskorol commented 2 years ago

Hi @tarasborov

Still playing with Spot teleop, and noticed that any changes that affect Spot's legs pose can't be reset via Gazebo.

Specifically, I tried to move the body up, until Spot reached the state it can't control the balance anymore.

Screenshot from 2021-12-10 11-57-27

Then I tried to reset model poses (even the world) via native Gazebo functionality. Spot has appeared in the initial point, but the legs' state hasn't been reset:

Screenshot from 2021-12-10 11-57-50

tarasborov commented 2 years ago

Gazebo can not reset robot pose because a ros_controller is running that set poses for joints.

sskorol commented 2 years ago

@tarasborov can we reset the controller's state to defaults? Maybe via publishing to some topic? Or it's not manageable?

tarasborov commented 2 years ago

To reset the controller, you should rerun it.