Ensure that enable_tags and disable_tags options can be passed in a world SDF file to the gazebo_yarp_robotinterface of an included model

[traversaro]

Similar to robotology/gazebo-yarp-plugins#672, but for gz-sim-yarp-plugins .

As we do not have any gazebo_yarp_configurationoverride-like plugin in gz-sim-yarp-plugins, probably we first need to solve this before this one, see #159 that is kind of related (even if focusing just on initial joint positions).

[xela-95]

@traversaro do you mean that having a gazebo_yarp_configurationoverride-like plugin is prioritary with respect to this? Do I have understood correctly?

[traversaro]

Actually, I do not know. It depends how we plan to implement this, and at the moment it is not clear to me how to do that, I am not even sure it is possible to have a gazebo_yarp_configurationoverride-like plugin in gz-sim.

[xela-95]

Ok clear. After an initial investigation I will report what I've found and then we can decide how to proceed.