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robotology / gazebo-yarp-plugins

Plugins to interface Gazebo with YARP.
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initialConfiguration does not work with bullet in Gazebo 4.0 #127

Open traversaro opened 10 years ago

traversaro commented 10 years ago

initialConfiguration sdf tag does not work on bullet (and this is related to more subtle bugs, for example coman exploding and floating in air). The initialConfiguration sdf tag is used in gazebo_yarp_controlboard to set the spawning pose of the model, see https://github.com/robotology/gazebo-yarp-plugins/wiki/Embed-gazebo-yarp-plugins-in-an-SDF-model#setting-initial-configuration-for-a-kinematic-chain.

For example, if I try to spawn the double pendulum example (from the tutorial directory of this repo) in a paused simulation I get: double_pendulum

While for ode, simbody and dart I correctly get: double_pendulum_dart

I guess the root of the issue is upstream in the bullet SetAngle implementation, but I open this issue to track things of gazebo-yarp-plugins side.

traversaro commented 10 years ago

We call SetAngle during initialization in https://github.com/robotology/gazebo-yarp-plugins/blob/0146d4ddd95766fb3e726d862f2be93c6727d6a8/src/yarp_drivers/ControlBoardDriver.cpp#L115 .