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Simbody Issues in GAZEBO2.0.0

Hi, I have just downloaded the new version of GAZEBO (2.0.0) and I am trying to use simbody dynamic engine with my humanoid robot but I have the following error/debug messages several times:

Dbg Simbody::GetAngleImpl() simbody not yet initialized, initial angle should be zero until <initial_angle> is implemented.

Error [SimbodyPhysics.cc:1154] Collision type [4202496] unimplemented Dbg Setting limitForce for [LHipSag]

Dbg Not implement in Simbody Dbg SetAxis Not implemented...

In terms of simulation I see the robot penetrating the ground and falling. Is this something that I have to change in my model? Actually I have tried to spawn the pr2 but gazebo crashes while with the youbot the robot looks like floating and the link collides one each other. I suppose this is normal due to the w.i.p. release, just to know. Thx in advance.