I try to use the matlab interface and the ODE physics with the Puma robot. But when I apply some gravity, I have some weird results. The robot move without any commands. And I can't send any velocities to the robot.I would like to be able to send such commands. If you have any ideas on the strange behaviour, it would be very helpful.
orEnvLoadScene('data/hanoi.env.xml',1); % load a scene
orEnvSetOptions('physics ode'); % start the physics engine
orEnvSetOptions('gravity 0 0 -9.8'); % set gravity