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gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim
http://classic.gazebosim.org/
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First sample in log file doesn't have updated link/joint positions #1714

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

  1. Insert a double pendulum and let it move for a bit

  2. Record a log of the pendulum moving

  3. Close gazebo then open a new gazebo loading the previously saved log and start paused (gazebo -u -p ~/.gazebo/log/<path>)

  4. You'll see that the pendulum's initial pose is not the pose of the moment you started recording the log file, but the model's default starting pose. If you perform one step forward, you'll see a big jump to the actual starting pose.

This probably happens because the very first saved sample, unlike all subsequent ones, is not a world state, but the raw world SDF. And that world SDF is not being updated for new link poses.

osrf-migration commented 9 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

osrf-migration commented 9 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).