Investigate how to set the initial position of models included in world

[xela-95]

We have to investigate if in Modern Gazebo there is a native way to do what on Gazebo Classic is done through ConfigurationOverride introduced in PR robotology/gazebo-yarp-plugins#392

[traversaro]

See:

• Proposal: system for setting initial position / velocity gazebosim/gz-sim#2318
• Prototype system for initializing model state gazebosim/gz-sim#2359

[traversaro]

It does not seem that gazebosim/gz-sim#2359 may land soon, and in any case it would not be available in older gz-sim versions. So if we are interested in this functionality, we may want to investigate in a custom solution, for example implementing a gz_sim_configurationoverride plugin that can parse the yarpPluginConfigurationOverride tag as the one used in Gazebo Classic, see for example https://github.com/ami-iit/paper_romualdi_viceconte_2024_humanoids_dnn-mpc-walking/blob/e1554e9453fc7d63c571e29ea446c60fff683d60/worlds/dnn_mpc_ergoCubGazeboV1_1/world#L27-L50 .

Otherwise, just to simplify the implementation we could copy gazebosim/gz-sim#2359 and change its name and test it in this repo. However, we would need somehow to be able to disable the parsing of initialConfiguration on the controlboard plugins, otherwise they may be overriden.

[LoreMoretti]

So if we are interested in this functionality

Interested!