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enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp)

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add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
This commit is contained in:
erwincoumans
2018-06-05 15:59:01 -07:00
parent 49eb83c24e
commit b6f5cb4c34
23 changed files with 286 additions and 179 deletions
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2
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -595,7 +595,7 @@ void ConvertURDF2BulletInternal(
}
} else
{
if (cache.m_bulletMultiBody->getBaseMass()==0)
if (cache.m_bulletMultiBody->getBaseMass()==0 && cache.m_bulletMultiBody->getNumLinks()==0)
{
//col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);