all static models are set to original point when using simbody physics engine

gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

http://classic.gazebosim.org/

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Open osrf-migration opened 6 years ago

osrf-migration commented 6 years ago

Original report (archived issue) by Jack Liu (Bitbucket: jacknlliu).

The original report had attachments: tables_test.world

When loading world file by simbody physics engine, all models in the world are set at the origin point.

I insert a model Table in the gazebo world which are not at the origin point.

gazebo -e ode  tables_test.world

Then I try loading it by simbody engine, but the Table are set at the origin point.

gazebo -e simbody  tables_test.world

But if we start the simbody with --pause, the result will be right.

The attachment is my world file.

osrf-migration commented 6 years ago

Original comment by Jack Liu (Bitbucket: jacknlliu).

osrf-migration commented 6 years ago

Original comment by Jack Liu (Bitbucket: jacknlliu).

Any idea about this?

osrf-migration commented 6 years ago

Original comment by Jack Liu (Bitbucket: jacknlliu).

changed title from "wrong loading world behaviour when using simbody physics engine" to "all models are set to original point when using simbody physics engine"

osrf-migration commented 6 years ago

Original comment by Jack Liu (Bitbucket: jacknlliu).

I find that only static models will meet this issue.

osrf-migration commented 6 years ago

Original comment by Jack Liu (Bitbucket: jacknlliu).

changed title from "all models are set to original point when using simbody physics engine" to "all static models are set to original point when using simbody physics engine"

osrf-migration commented 6 years ago

Original comment by Jack Liu (Bitbucket: jacknlliu).

It seems that SimbodyPhysics::AddStaticModelToSimbodySystem() can't add static model to simbody system correctly.