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Gepetto / gepetto-viewer

Graphical Interface for Pinocchio and HPP.
BSD 2-Clause "Simplified" License
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[urdf-parser] Fix issues with displaying multiple visual #23

Closed olivier-stasse closed 8 years ago

olivier-stasse commented 8 years ago

This pull-request fixes a problem in displaying multiple visual in urdf files. The Tiago robot (https://github.com/pal-robotics/tiago_robot) for instance is using multiple visual (arm_3_link). The problem is due to the getStaticTransform which considers only the field visual in the urdfLink structure. Setting the correct element of the visual_array fixes the problem (see /usr/include/urdf_model/link.h).

Incidentally, this pull request adds also test on attributes which are failing when loading STL files.