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make Bullet URDF parser more similar to the ROS URDF parser. There is still a difference in ordering of links,

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due to the use of different hash-map implementations, with a difference in iterator order
(btHashMap versus std::hashmap)
This commit is contained in:
erwincoumans
2015-06-29 21:30:44 -07:00
parent 3fbe9f63ef
commit e7bafbc71c
7 changed files with 52 additions and 11 deletions
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8
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -377,7 +377,13 @@ bool UrdfParser::parseLink(UrdfLink& link, TiXmlElement *config, ErrorLogger* lo
}
} else
{
logger->reportWarning("No inertial data for link");
logger->reportWarning("No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame");
link.m_inertia.m_mass = 1.f;
link.m_inertia.m_linkLocalFrame.setIdentity();
link.m_inertia.m_ixx = 1.f;
link.m_inertia.m_iyy = 1.f;
link.m_inertia.m_izz= 1.f;
logger->reportWarning(link.m_name.c_str());
}