Can't Set Joint State When Using Simbody

[osrf-migration]

Original report (archived issue) by Xander Dunn (Bitbucket: xanderdunn).

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We have a plugin that we use to set joint position and velocity. This works fine when our .world is using ODE. However, this doesn't appear to work when we're using Simbody. In verbose Gazebo output we see:

[Err] [SimbodyLink.cc:227] SetWorldPose (OnPoseChange) for child links need testing.
[Err] [SimbodyLink.cc:227] SetWorldPose (OnPoseChange) for child links need testing.
[Err] [SimbodyLink.cc:227] SetWorldPose (OnPoseChange) for child links need testing.

which was added here.

The error isn't fatal. Simulation continues, but nothing in the world changes as a result of the SetWorldPose.

[osrf-migration]

Original comment by Xander Dunn (Bitbucket: xanderdunn).

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• changed title from "Can't Set Joint Force/State" to "Can't Set Joint Force/State When Using Simbody"

[osrf-migration]

Original comment by Xander Dunn (Bitbucket: xanderdunn).

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• Edited issue description* changed title from "Can't Set Joint Force/State When Using Simbody" to "Can't Set Joint State When Using Simbody"

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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I believe Joint::SetVelocity is working, since it is used in the INTEGRATION_joint_spawn test, but there seem to be problems with setting joint position, since the INTEGRATION_joint_set_position test is disabled.

I think the Joint::SetPosition functions should be similar to Joint::SetVelocity.