I have a URDF file for an obstacle and I am parsing it as a SkeletonPtr. Once I parsed it, I set the position and orientation and then add it to the world. However, it is currently in the air and therefore it falls down with simulation. I want it to be fixedly to the world, where I am placing it even if its in the air.
I tried the following steps:
- Create a skeletonPtr class, which does the following:
a) Parse the SkeletonPtr.
b) Set the Position and orientation.
c) Create it as bodynodeptr as follow
= obstacle->createJointAndBodyNodePair dart::dynamics::WeldJoint (nullptr).second;
d) Return the skeletonPtr
2) Add it to the world.
However, the obstacle is not attached to the world and it still falls down. Any help will be appreciated.
p.s I see that forum is not showing greater than and less than sign with createJointBodyNodePair. dart::dynamics::WeldJoint is in the greater and less than sign