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Support the <static> field under <model> in SDF to make the model immovable, similar to setting the mass to zero.

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Add joint velocity motors in ImportSDF example.
This commit is contained in:
erwin coumans
2016-06-02 18:04:22 -07:00
parent 5bf125cab5
commit 0b69ba7f61
4 changed files with 88 additions and 4 deletions
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17
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -267,14 +267,25 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVect
//the link->m_inertia is NOT necessarily aligned with the inertial frame
//so an additional transform might need to be computed
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
btAssert(linkPtr);
if (linkPtr)
{
UrdfLink* link = *linkPtr;
mass = link->m_inertia.m_mass;
if (link->m_parentJoint==0 && m_data->m_urdfParser.getModel().m_overrideFixedBase)
{
mass = 0.f;
localInertiaDiagonal.setValue(0,0,0);
}
else
{
mass = link->m_inertia.m_mass;
localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy,
link->m_inertia.m_izz);
}
inertialFrame = link->m_inertia.m_linkLocalFrame;
localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy,
link->m_inertia.m_izz);
}
else
{

14
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -529,6 +529,8 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
link.m_name = linkName;
if (m_parseSDF) {
TiXmlElement* pose = config->FirstChildElement("pose");
if (0==pose)
{
@@ -572,7 +574,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
logger->reportWarning(link.m_name.c_str());
}
}
// Multiple Visuals (optional)
for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
{
@@ -1240,6 +1242,16 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
UrdfModel* localModel = new UrdfModel;
m_tmpModels.push_back(localModel);
TiXmlElement* stat = robot_xml->FirstChildElement("static");
if (0!=stat)
{
int val = int(atof(stat->GetText()));
if (val==1)
{
localModel->m_overrideFixedBase = true;
}
}
// Get robot name
const char *name = robot_xml->Attribute("name");

7
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -134,6 +134,13 @@ struct UrdfModel
btHashMap<btHashString, UrdfJoint*> m_joints;
btArray<UrdfLink*> m_rootLinks;
bool m_overrideFixedBase;
UrdfModel()
:m_overrideFixedBase(false)
{
m_rootTransformInWorld.setIdentity();
}
};