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2013-03-11 01:13:42 -0500 answered a question SDF Python API?

I've been working on refactoring the robot_model_py library to accommodate some basic reflection, much like Gazebo's SDF interface. It seems to be working with loading and saving robots.

Link to forked repo: https://github.com/eacousineau/robotmodelpy

It does break the API with the old library, though.

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2013-01-16 18:30:28 -0500 answered a question Ode "world" VS "quick" method in Gazebo ROS Fuerte

I had a similar issue and posted this as an issue on the BitBucket repo: Issue 351.

However, to complicate things, I recently set up on my laptop on it worked for the test case that I mentioned in the issue. I can re-run these tests.

2013-01-14 12:42:40 -0500 asked a question Generate Elcipse Project Files for Gazebo - Indexing causes GC to Crash Eclipse

I am trying to use the Eclipse generator for CMake to make some project files for Gazebo, but it whenever it tries to index the files it crashes with an out-of-memory exception.

Has anyone else had any luck with this?

I have gotten it working by just importing the code as an "Existing Makefile Project" in CDT, but things aren't strongly linked together.

2013-01-03 01:25:11 -0500 commented answer GetAngleImpl fails on Revolute2 joints

I do not think ODEHinge2Joint::GetAngleImpl(...) is fully implemented. If you look at the source, it does not report the angles at all (it tries calculating for first axis only, then just returns zero).

2012-12-31 15:01:59 -0500 asked a question SDF Python API?

Is there a plan for a basic SDF python API, similar to David's / Thomas's / LAAS's urdfparserpy?

2012-12-17 15:12:25 -0500 received badge  Editor (source)
2012-12-17 15:11:13 -0500 asked a question Hinge2Joint - Implementations do not seem to Support ::GetAngleImpl()

In gazebo/physics/ode/ODEHinge2Joint.cpp, ODEHinge2Joint::GetAngleImpl(...), the function does not attempt to return the angle for the first joint axis (though debugging the code and examining the values indicates that there is a value there), and does not support multiple axes. BulletHinge2Joint:GetAngleImpl(...) says it is not implemented. Changeset: e93d70fe8d38+ (gazebo_1.3) gazebo_1.3.1

What is the plan regarding these types of joints? If we want co-located joints, is there some workaround to make this happen? We tried using 'null bodies' (zero mass, zero inertia) in URDF a couple of weeks ago, but that did not work. We also have seen gerkey's issue about zero mass in SDF raising an exception.

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2012-12-12 11:35:40 -0500 commented answer 1.3.0 - Performance of SDF File Structure - Redundancy in Reloading Description Files For Every SDF Read?

Ah, makes sense. Thank you.

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2012-12-12 10:40:53 -0500 asked a question Simple Method to Reload Model Plugins?

Is there a simple method to reload model plugins in Gazebo when they are recompiled? I see PluginT<...>::Create() and ModelPlugin::Create() using dlfcn.h / ltdl.h, and was wondering if there currently is a technique to easily reload model plugins if the model is destroyed and a new one is created.

Reposted from here.

2012-12-12 10:34:11 -0500 asked a question 1.3.0 - Performance of SDF File Structure - Redundancy in Reloading Description Files For Every SDF Read?

I recently checked out the source code of Gazebo 1.3.0 (02a2ec16375a+ (gazebo_1.3) gazebo_1.3.0) and was looking into how the XML and SDF system works. I noticed that for each SDF file is loaded (from gazebo/Server.cc:, Server::LoadFile(), then from gazebo/sdf/interface/parser.cc:616, readXml()), it makes multiple calls to sdf::init(). When debugging, it would load the same SDF description files (in gazebo/sdf/1.3) several times.

This seems like it might be redundant and inefficient. Are there plans to cache these loaded XML documents, or are there reasons why they are reloaded every time?