Simulation World resetCommand argument

[costashatz]

Bug Report

• I checked the documentation and the forum but found no answer.
• I checked to make sure that this issue has not already been filed.

Environment

• DART version: master
• OS name and version name(or number): Ubuntu 18.04
• Compiler name and version number: GCC 7.4.0

Expected/Weird Behavior

I am using a World to simulate a world using DART. When I do a step() I pass the resetCommand = false. Usually everything works fine until I used a soft body. In that case the behavior that I am getting when resetting or disable the rest of the commands in the step is different. In short, I get normal behavior when resetCommand = true and weird behavior otherwise.

Steps to Reproduce

1. Create a world with a soft body (a soft cube for example) and a rigid floor
2. Put the soft body at a height (e.g., 0.5)
3. Run the simulation with resetCommand = true and with resetCommand = false

Why I am getting this behavior? Any ideas?

Thanks a lot!

[jslee02]

Thank you for the bug report. I could reproduce the issue from soft_bodies example with resetCommand = false option. Let me take a look if it can be quickly resolved.

[jslee02]

This should be fixed by #1372! Let me know if it doesn't work for you.

[costashatz]

This should be fixed by #1372! Let me know if it doesn't work for you.

Seems to be working! Thanks a lot!