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Merge pull request #669 from hellojas/loadURDF

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fix loading urdf at default position (0,0,0)
This commit is contained in:
erwincoumans
2016-06-26 19:12:20 -07:00
committed by GitHub
parent cf1a4b02a1 aa91042ac8
commit ed9be25570
1 changed files with 4 additions and 3 deletions
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examples/pybullet/pybullet.c
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@@ -144,7 +144,6 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
float startPosX =0; float startPosX =0;
float startPosY =0; float startPosY =0;
float startPosZ = 0; float startPosZ = 0;
float startOrnX = 0; float startOrnX = 0;
float startOrnY = 0; float startOrnY = 0;
float startOrnZ = 0; float startOrnZ = 0;
@@ -174,6 +173,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
return NULL; return NULL;
} }
{ {
// printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
int statusType; int statusType;
@@ -181,6 +181,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
//setting the initial position, orientation and other arguments are optional //setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ); b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
b3LoadUrdfCommandSetStartOrientation(command, startOrnX, startOrnY,startOrnZ, startOrnW );
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED) if (statusType!=CMD_URDF_LOADING_COMPLETED)