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Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress.

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This commit is contained in:
yunfeibai
2016-08-16 17:56:30 -07:00
parent 4bc31394a0
commit 591f922d97
7 changed files with 20 additions and 6 deletions
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4
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -86,6 +86,7 @@ public:
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
@@ -131,11 +132,10 @@ public:
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.sdf";
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = false;
args.m_fileType = 2;
m_robotSim.loadFile(args,results);
}
if (1)

1
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -703,6 +703,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);