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leave m_useGlobalVelocities to false, until enabled, for backward compatibility

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use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
This commit is contained in:
erwincoumans
2018-01-10 11:16:50 -08:00
parent c4b1b84687
commit 22b4809891
11 changed files with 61 additions and 47 deletions
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examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -24,7 +24,7 @@ enum ConvertURDFFlags {
CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
CUF_RESERVED=64,
CUF_USE_IMPLICIT_CYLINDER=128,
CUF_NO_GLOBAL_VELOCITIES_MB=256,
CUF_GLOBAL_VELOCITIES_MB=256,
};
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,