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Setting //model/static
to True
on inserted models breaks link placement
#389
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The modelling that SDF allows is quite large and we didn't explore many of them, including static models. In many cases like it could be this one, it depends a lot on how they are implemented upstream, in most cases we just read the ECM and expose its data through our APIs. I'm not really sure whether poses of static models are processed by the physics engine (passing through the gym-ignition/scenario/src/gazebo/src/Model.cpp Lines 931 to 939 in 83b9b1c
If the Physics system does not populate it neither the first time (since after that it should not change being static), this behavior should be addressed upstream. I'll have a more in depth look on this in the next few days. |
Interesting. You would indeed expect In the Ignition inspector itself the pose is set correctly; however, it is given relative to ... which is partly my reason for trying to use all these combinations and advanced SDFormat features in gym-ignition. It returns all poses relative to |
I just had a look at this. Running a unpaused
This for sure 👍 |
I found an interesting bug when inserting models programmatically into a gazebo simulation. If the model sets
static=True
then it will not be initialized properly.I created an example of this behavior below showing the same model with and without the
static
flag set. The MWE is based on the script that @diegoferigo shared in #385. (except that I added code to print poses in the same format they appear in the respective SDF.)MWE
Notice how in the output the pose of
B
is all zeros in the static model, whereas the dynamic model correctly sets the link's pose.The text was updated successfully, but these errors were encountered: