Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

URDF: don't parse joint limit for continuous joints

Browse Source 
tweak KUKA iiwa inverse kinematics test in physics server
This commit is contained in:
erwincoumans
2016-09-22 23:21:24 -07:00
parent e356f4f1f6
commit b6bb937dc0
4 changed files with 28 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -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)
{