Reset World Feature

[ndehio]

I implemented an simple example for demonstrating and testing the "Reset World Feature" in
https://github.com/cogimon/workshop-extended-example/ -> branch resetWorldExample

Could you please check whether this is done in a correct way? I am not sure exactly at which point between configuring, starting, stopping and cleaning of components one should (de-)activate the dynamics via "toggleDynamicsSimulationGazebo()". It seems that sometimes the robot crashes.

[EnricoMingo]

There are 2 basic functions that you should use to do this:

1. coman.reset_model_config that puts the robot to the initial
   configuration in joint space
2. gazebo.reset_model_pose that puts the robot to the initial pose in world
   frame

For example: if you are testing different walking algorithm you can run the
first algorithm, when it finish you can call these 2 methods (the order is
not important) and the robot will be placed at the starting point with the
initial configuration. Is also not important to stop the dynamics.

In the case there are also object involved then there is another method in
gazebo that reset the world completely but you should call just after it
the coman.reset_model_config (calling just the first one the world will be
reset but the robot will take the last configuration in joint space). Also
in this case the order should not be important (you can take the robot to
the initial configuration and then reset the world).

2016-11-07 15:48 GMT+01:00 ndehio [email protected]:

I implemented an simple example for demonstrating and testing the "Reset
World Feature" in
https://github.com/cogimon/workshop-extended-example/ -> branch
resetWorldExample

Could you please check whether this is done in a correct way? I am not
sure exactly at which point between configuring, starting, stopping and
cleaning of components one should (de-)activate the dynamics via "
toggleDynamicsSimulationGazebo()". It seems that sometimes the robot
crashes.

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PhD Mingo Hoffman Enrico
Istituto Italiano di Tecnologia, Genova

[OpenSoT]

This can be closed?

[ndehio]

Actually not...
The simple example still does not work. It uses a fixed-base kuka robot arm which is why gazebo.reset_model_pose does not has any effect.
Please have a look to the example

[EnricoMingo]

Have you tried to use the operation reset_model_configuration? 2017-02-01 16:42 GMT+01:00 ndehio <[email protected]>:

…

Actually not... The simple example still does not work. It uses a fixed-base kuka robot arm which is why gazebo.reset_model_pose does not has any effect. Please have a look to the example — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#17 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AFQaynR8jVFB_GRcJgMohoF6w7jxX9-cks5rYKfsgaJpZM4KrSsv> .

-- PhD Mingo Hoffman Enrico Istituto Italiano di Tecnologia, Genova