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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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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");