Jonathan Spitz

We are running Gazebo 7.7. Right now we are solving the issue by creating and destroying all the ports between two resets, but this is not optimal.

Opening and connecting the ports, starting the threads etc. Then doing the opposite.

No. What would I use that for? I've attached the code below. [icub_yarp_gazebo.txt](https://github.com/robotology/gazebo-yarp-plugins/files/1145963/icub_yarp_gazebo.txt) So we call connectGazebo(), run an episode, then disconnectGazebo() and reset Gazebo (CTRL+r). Rinse and repeat.

Yeah, I figured that much by looking at the code. I hoped that there would be a way to change the yarp::os::Property m_parameters somehow. Oh well, I'll stick to just...

I'll try to prepare some minimal code and upload it here

Hi Silvio, here's the minimal code that you asked for. Let me know if you have problem building it. There's a box_description folder with the box model for gazebo and...

Thanks @archmoj. I tried the codepen but it doesn't work for me (the plot is displayed but it's not responsive). I tried it both in Chrome and Firefox on Windows...