Setting `//model/static` to `True` on inserted models breaks link placement about gym-ignition HOT 3 OPEN

I just had a look at this. Running a unpaused run instead of a paused run gives the intended result. I'm not yet sure why this is necessary, I need more time to dig into the Physics system, maybe there are some if(is_static) that mess a bit the insertion logic. I'm leaving this issue open so that I can track this check, but in the meantime you can issue regular run commands.

That said, they can definitely collide with dynamic models, so physics should be aware of them...

This for sure 👍

from gym-ignition.

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 Physics system). What we do is just returning what's stored in the ignition::gazebo::components::Pose component:

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.

from gym-ignition.

Interesting. You would indeed expect static models to not be updated by the physics engine. That said, they can definitely collide with dynamic models, so physics should be aware of them...

In the Ignition inspector itself the pose is set correctly; however, it is given relative to camera_static::__model__ instead of world.

... 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 world, which is very handy and I haven't figured out how to make ignition do this natively yet.

from gym-ignition.