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fix R2D2GraspExample

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This commit is contained in:
Erwin Coumans
2016-08-29 12:35:02 -07:00
parent 68efd7dd6e
commit 900fd86d58
3 changed files with 5 additions and 6 deletions
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4
data/kiva_shelf/model.sdf
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@@ -2,10 +2,10 @@
<sdf version="1.4"> <sdf version="1.4">
<model name="Amazon Pod"> <model name="Amazon Pod">
<static>1</static> <static>1</static>
<pose>0 2 1.21 0 0 0</pose> <pose>0 2 0 0 0 0</pose>
<link name="pod_link"> <link name="pod_link">
<inertial> <inertial>
<pose>0.0 0.0 1.2045 0 0 0</pose> <pose>0.0 .0 1.2045 0 0 0</pose>
<mass>76.26</mass> <mass>76.26</mass>
<inertia> <inertia>
<ixx>47</ixx> <ixx>47</ixx>

6
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -94,11 +94,9 @@ public:
{ {
b3RobotSimLoadFileArgs args(""); b3RobotSimLoadFileArgs args("");
args.m_fileName = "kiva_shelf/model.sdf"; args.m_fileName = "kiva_shelf/model.sdf";
args.m_startPosition.setValue(0,0,.5); args.m_forceOverrideFixedBase = true;
args.m_startOrientation = b3Quaternion(0,B3_HALF_PI,0);
args.m_forceOverrideFixedBase = true;
args.m_fileType = B3_SDF_FILE; args.m_fileType = B3_SDF_FILE;
//args.m_startOrientation = b3Quaternion() args.m_startOrientation = b3Quaternion(0,0,0,1);
b3RobotSimLoadFileResults results; b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results); m_robotSim.loadFile(args,results);
} }

1
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -32,6 +32,7 @@ struct b3RobotSimLoadFileArgs
m_startPosition(b3MakeVector3(0,0,0)), m_startPosition(b3MakeVector3(0,0,0)),
m_startOrientation(b3Quaternion(0,0,0,1)), m_startOrientation(b3Quaternion(0,0,0,1)),
m_forceOverrideFixedBase(false), m_forceOverrideFixedBase(false),
m_useMultiBody(true),
m_fileType(B3_URDF_FILE) m_fileType(B3_URDF_FILE)
{ {
} }