Finalize the implementation of base pose feature #96
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- New attribute that specifies if the robot is fixed or floating base - Remove the 'floating' parameter from the reset_base_pose method
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Note that all what concern setting the base velocity is not yet implemented. We might need this feature soon, I will finalize it in another PR. |
CMakeLists.txt
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| set(GYMPP_BUILD_SHARED_LIBRARY TRUE BOOL | ||
| CACHE BOOL "Compile libraries as shared libraries") | ||
| set(GYMPP_BUILD_SHARED_LIBRARY TRUE | ||
| CACHE BOOL "Compile libraries as shared libraries" FORCE) |
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What is the point of having a user-facing option if you always force it to a value?
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Mmh the FORCE option should not be there, good catch. I remember why I used it in the other conditional branch, and using it also here as you said is not useful. I think I should come up with a better logic that sets static compilation in PyPI build mode without overriding the cache value. This could be useful to switch back to e.g. Release and not losing the preferred build type.
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I think I should come up with a better logic that sets static compilation in PyPI build mode without overriding the cache value. This could be useful to switch back to e.g. Release and not losing the preferred build type.
In the case of the CMAKE_BUILD_TYPE equal to PyPI , you could just set directly BUILD_SHARED_LIBS ignoring GYMPP_BUILD_SHARED_LIBRARY . Note that this could create problems if gym-ignition is included in a CMake project that defines BUILD_SHARED_LIBS as an option, but I think that this workflow combine with CMAKE_BUILD_TYPE equal to PyPI is not a configuration that it make sense to support.
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I think that this workflow combine with CMAKE_BUILD_TYPE equal to PyPI is not a configuration that it make sense to support.
In general, users should not even know that the PyPI build type exists. It is there only to simplify the CD pipeline.
- Converted with a recent sdformat version that does not use parent_model_frame - Fixed few errors in inertia calculation - Add right inertial elements also for support links - Add collision elements
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This PR finalizes the support of specifying and setting the base pose of models that are inserted during runtime. There are few different cases to consider.
Models specified in the SDF can be:
If a fixed-base model is inserted during runtime in Ignition Gazebo, its pose cannot be changed [1] without dirty workarounds (e.g. removing in the ECM the world to base joint and, in the following physics step, change the pose). To keep things simple, I propose we support only:
Closes #80
[1] If I recall, the reason of this behaviour is that DART creates a weld joint between world and base. The resulting model chain is not considered a FreeGroup and therefore changing its pose using the
WorldPoseCmdcomponent would not work.