Unify world/local/scene pose getters and setters #786
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added 2 commits
July 3, 2024 18:09
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Basic changes:
Add frame option to get_position_orientation in xform_prim, entity_prim, rigid_prim, behavior robot, tiago, and poseAPI.
Add frame option to set_position_orientation in xform_prim, entity_prim, rigid_prim, behavior robot, tiago, and poseAPI.
WORLD: positioning relative to the absolute world position
SCENE: positioning relative to the scene position
PARENT: positioning relative to the parent container
Deprecated functions:
removed support for the get_position and get_orientation APIs in xform_prim, entity_prim, rigid_prim, behavior robot, tiago, and poseAPI
removed support for set_position and set_orientation APIs but still leave the set_position_orientation API support for only specifying one of pos or orn, with the other defaulting to None.
removed support for get_local_position and set_location position in xform_prim, entity_prim, rigid_prim, behavior robot
Upon calling the deprecated functions, a warning is returned
Test changes:
Tested robot get_position_orientation with relativeframe set to WORLD and PARENT and checked for position correctness
Tested robot set_positon_orientation with relativeframe set to WORLD and checked for position correctness
TODO:
Get_position_orientation: Add support for relative frame parameter set to SCENE
Set_position_orientation: Add support for robot position set relative to PARENT and SCENE
Add documentation on mkdoc
This change is