issues with reset buttons #507
Comments
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Original comment by Thomas Koletschka (Bitbucket: thomasko). Additionally "Reset Model Poses" only resets the robot's pose but not the configuration. While this corresponds to what the button title suggests it makes the button kind of useless as the robot will be reset to whatever configuration it was in before which is usually not an ideal one. |
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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters). See pull request #316. This sets the velocities to zero when calling Reset Model Poses. |
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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).
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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu). So currently, reset model poses will reset velocities to zero, but will not reset all link poses (so it will not disturb running controllers, yet it will not recover from exploded simulation). We should add yet another "reset all but time" function, for recovering from NaN's and keep time running so user do not have to restart controllers, which is hard to do sometimes without restarting the entire simulation (consider reloading plugins). |
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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).
Until after June, 2013. |
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Original comment by Peter Lehner (Bitbucket: peter_lehner). I am confused. This issue was fixed partially in pull request #316 and merged into the default branch. But in the current default version the changes are gone. What happened? |
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Original comment by Nate Koenig (Bitbucket: Nathan Koenig). I think the code has been moved into the Model class. Look at Model::Reset, and Model::ResetPhysicsStates() |
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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).
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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).
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Original comment by Jack Liu (Bitbucket: jacknlliu). Can gazebo reset world without resetting sim time in gazebo7 or gazebo9? |
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Original comment by Andrew Holliday (Bitbucket: lommmzar). I just wanted to chime in and say that this issue is still present in Gazebo 8. This is a major problem. I'm a grad student in a robotics lab and we're trying to run long-term, many-episode robot learning experiments using Gazebo and ROS. This is made very inconvenient by the fact that occasionally our robot's limbs fall off during an episode, and using reset_world puts the robot's body back at the origin but doesn't put its arms back on. Reset_simulator isn't an option because it causes various other ROS modules to crash, complaining that ROS time went backwards. The only option is for us to kill the entire gazebo-and-ROS-and-learning-agent system and restart from the last checkpoint - meaning we have to periodically check the robot's state visually (making running in headless mode impractical) and then manually reset the entire system. It is, frankly, astonishing that such a basic feature isn't implemented. I can't imagine that wanting to completely reset a robot's pose without restarting all of ROS is a rare use case, nor can I imagine that this would be difficult to implement. If changing the behaviour of reset_world is a problem for compatibility reasons, couldn't another call, "full_reset_world" or something, be implemented? |
Original report (archived issue) by Maurice Fallon (Bitbucket: mauricefallon).
pressing the "Reset Model Poses" button doesnt set velocites to zero - so if robot is moving (e.g. falling over) when this is pressed then it will continue with these velocites.
This makes the button not very useful - please add velocity reset
pressing the "Reset World" button resets the entire world - including SIM TIME! This smashes ROS interaction as the ROS core assumes incrementally increasing time.
Please do not reset the sim time
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