Change default pose of scene

Hello @Hugo,

I have not started using the ROS Plugin yet as it is my understanding that it is not public yet.

I am asking for a default world pose for the scene at initialization of the scene, yes.

Is there a way you do this? IN URDF/XML/Xacro files, we’d do something like

<pose>0 0 0 0 0 0</pose>

More so, we can define a global property in Xacro such as <property name="cal_caster_fl" value="0.0" /> that can be used as a variable in multiple locations in an xml file. Does SOFA have this property?

Aye, Aye!

Thank you, @Hugo! That was really cool to know.

Now back unto my question that you earlier skipped and a +1:

1.

is there a feature such as in ROS e.g. <property name=”cal_caster_fl” value=”0.0″ /> that can be used as a variable to be later referred to in multiple locations in an xml file?

2.

In my terminal, after launching a scene, I keep getting warnings like

[WARNING] [MeshTopology(meshTopology)] Unused Attribute: “dx” with value: “95”

because I used the dx attribute to describe an object’s position in a scene file I am including in my main scene file. Why does SOFA spill this to terminal everytime I include the scene file? Would ‘preciate your help, bro.