test load kuka arm sdf

2016-05-11 13:43:50 -07:00
parent 1bebcc6d9a
commit 06a2669b32
7 changed files with 1519 additions and 191 deletions
--- a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
+++ b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
@@ -131,7 +131,7 @@ ImportSDFSetup::ImportSDFSetup(struct GUIHelperInterface* helper, int option, co
 		
 		if (gFileNameArray.size()==0)
 		{
-			gFileNameArray.push_back("two_cubes.sdf");
+			gFileNameArray.push_back("kuka_iiwa/model.sdf");

 		}

@@ -291,7 +291,7 @@ void ImportSDFSetup::stepSimulation(float deltaTime)
        }

 		//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
-		m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
+		//m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
 	}
 }