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robotology / gazebo-yarp-plugins

Plugins to interface Gazebo with YARP.
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Resetting a YARP controlboad to a different joint configuration #349

Open traversaro opened 6 years ago

traversaro commented 6 years ago

@lothas commented on Fri Mar 02 2018

I wrote a gazebo plugin a while ago to reset the simulation and reset my model to a desired position and/or joint configuration. Up until now it seemed that everything worked OK because I was always resetting to the initial configuration stated in the sdf model file. I'm now trying to reset my model to a different desired joint configuration. My gazebo plugin correctly updates the model but the gazebo-yarp-plugin always resets to the value specified in the sdf file, quickly driving the joint positions to those ones. Is there a way of programmatically specifying the desired "OnReset" configuration for a yarp control board?

@jgvictores commented on Mon Mar 05 2018

Maybe yarp::dev::IEncoders::setEncoders is what you need?

@traversaro commented on Mon Mar 05 2018

Hi @lothas , I am afraid the "reset to arbitrary configuration" functionality is not supported in gazebo-yarp-plugins (moving the issue there as it is a gazebo-related problem).

traversaro commented 6 years ago

@jgvictores I am not sure about the intend semantics of the yarp::dev::IEncoders::setEncoders function.

traversaro commented 6 years ago

Resetting a Gazebo Model is possible at the Gazebo level using Joint::SetPosition , but resetting to an user-provided position at runtime is not currently supported in the gazebo_yarp_controlboard plugin.

lothas commented 6 years ago

Yeah, I figured that much by looking at the code. I hoped that there would be a way to change the yarp::os::Property m_parameters somehow. Oh well, I'll stick to just resetting to the default values.

traversaro commented 6 years ago

@lothas If you are still interested in this, I guess the discussion in https://github.com/robotology/gazebo-yarp-plugins/issues/392 could be related .