Application of external wrenches: new `empty` method and new Python test

robotology / gym-ignition

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo

https://robotology.github.io/gym-ignition

GNU Lesser General Public License v3.0

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Closed diegoferigo closed 2 years ago

diegoferigo commented 2 years ago

Adds new test for checking if wrenches are applied for the right time interval.
Adds a new LinkWrenchCmd::empty to check if there are wrenches to apply. This will be used by the Physics system in a new PR to prevent applying a zero wrench each time.

diegoferigo commented 2 years ago

The Physics system addition will be included in #392.