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test load kuka arm sdf

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yunfeibai
2016-05-11 13:43:50 -07:00
parent 1bebcc6d9a
commit 06a2669b32
7 changed files with 1519 additions and 191 deletions
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5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -200,10 +200,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);