Improve CMake Windows support to build PyBullet (BUILD_PYBULLET)
Implement b3LoadSdfCommandInit in shared memory API
Implement pybullet SDF loading binding, in loadSDF API
TODO for SDF support is provide way to query object/link/joint information.
add an example using 'direct'
fix the send-desired-state commands, to add flags for arguments set, using default values.
Start exposing SDF loading in shared memory api, not fully implemented yet.
See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
struct b3LinkState
{
double m_worldPosition[3];//this is the inertial frame
double m_worldOrientation[4];
double m_localInertialPosition[3];//this is the local frame from inertial to link frame
double m_localInertialOrientation[4];
};
const btTransform link_frame_world =
inertial_frame_world * m_local_inertial_frame->inverse();
