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add capsule support in urdf parser (non-standard extension), capsule.urdf

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fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
This commit is contained in:
Erwin Coumans
2017-01-23 16:45:18 -08:00
parent 73e83d6e84
commit d465e1eea5
6 changed files with 87 additions and 22 deletions
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23
data/capsule.urdf Normal file
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@@ -0,0 +1,23 @@
<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<capsule length="0.1" radius="0.02"/>
</geometry>
</collision>
</link>
</robot>