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URDF: don't parse joint limit for continuous joints

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tweak KUKA iiwa inverse kinematics test in physics server
This commit is contained in:
erwincoumans committed 2016-09-22 23:21:24 -07:00
1 parent e356f4f1f6
commit b6bb937dc0
4 files changed
+28 -34
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examples/Importers/ImportURDFDemo/UrdfParser.cpp
+9 -6
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@@ -1057,12 +1057,15 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
TiXmlElement *limit_xml = axis_xml->FirstChildElement("limit");
if (limit_xml)
{
if (!parseJointLimits(joint, limit_xml,logger))
{
logger->reportError("Could not parse limit element for joint:");
logger->reportError(joint.m_name.c_str());
return false;
}
if (joint.m_type != URDFContinuousJoint)
{
if (!parseJointLimits(joint, limit_xml,logger))
{
logger->reportError("Could not parse limit element for joint:");
logger->reportError(joint.m_name.c_str());
return false;
}
}
}
else if (joint.m_type == URDFRevoluteJoint)
{