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add prismatic.urdf test file and revert to r2d2.urdf in import example

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Erwin Coumans
2015-07-15 17:51:49 -07:00
parent 7698d5f95c
commit 26e175013d
2 changed files with 51 additions and 1 deletions
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50
data/prismatic.urdf Normal file
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@@ -0,0 +1,50 @@
<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="prismatic">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.1" upper="0.2" />
</joint>
</robot>

2
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -130,7 +130,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
if (gFileNameArray.size()==0) if (gFileNameArray.size()==0)
{ {
gFileNameArray.push_back("prismatic.urdf"); gFileNameArray.push_back("r2d2.urdf");
} }