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prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h

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prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
This commit is contained in:
erwin coumans
2016-07-11 00:26:40 -07:00
parent 02582e3a78
commit 7633cfb800
25 changed files with 1175 additions and 41 deletions
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25
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -569,6 +569,31 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
{
//optional 'contact' parameters
TiXmlElement* ci = config->FirstChildElement("contact");
if (ci)
{
TiXmlElement *friction_xml = ci->FirstChildElement("lateral_friction");
if (friction_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->GetText());
} else
{
if (!friction_xml->Attribute("value"))
{
logger->reportError("Link/contact: lateral_friction element must have value attribute");
return false;
}
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
}
}
}
}
// Inertial (optional)
TiXmlElement *i = config->FirstChildElement("inertial");
if (i)