From 9c9e28e9f1de29228def48a4d49315b2f4fbf2d2 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 3 Sep 2014 20:55:48 +0900 Subject: [PATCH 1/3] set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position) is optional --- urdf_parser_py/src/urdf_parser_py/urdf.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py index b0fceb02..2cab62a8 100644 --- a/urdf_parser_py/src/urdf_parser_py/urdf.py +++ b/urdf_parser_py/src/urdf_parser_py/urdf.py @@ -237,8 +237,8 @@ def __init__(self, effort=None, velocity=None, lower=None, upper=None): xmlr.reflect(JointLimit, params = [ xmlr.Attribute('effort', float), - xmlr.Attribute('lower', float), - xmlr.Attribute('upper', float), + xmlr.Attribute('lower', float, False, 0), + xmlr.Attribute('upper', float, False, 0), xmlr.Attribute('velocity', float) ]) @@ -264,9 +264,9 @@ def __init__(self, velocity=None, position=None, lower=None, upper=None): xmlr.reflect(SafetyController, params = [ xmlr.Attribute('k_velocity', float), - xmlr.Attribute('k_position', float), - xmlr.Attribute('soft_lower_limit', float), - xmlr.Attribute('soft_upper_limit', float) + xmlr.Attribute('k_position', float, False, 0), + xmlr.Attribute('soft_lower_limit', float, False, 0), + xmlr.Attribute('soft_upper_limit', float, False, 0) ]) class Joint(xmlr.Object): @@ -433,4 +433,4 @@ def from_parameter_server(cls, key = 'robot_description'): # Make an alias URDF = Robot -xmlr.end_namespace() \ No newline at end of file +xmlr.end_namespace() From 6fd15c2c58b3b0a596509779b4ef67ce8fd3e200 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 23 Sep 2014 11:18:52 +0900 Subject: [PATCH 2/3] falling and raising in joint/calibration is optional, see http://wiki.ros.org/urdf/XML/joint --- urdf_parser_py/src/urdf_parser_py/urdf.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py index 2cab62a8..9492d8a5 100644 --- a/urdf_parser_py/src/urdf_parser_py/urdf.py +++ b/urdf_parser_py/src/urdf_parser_py/urdf.py @@ -224,8 +224,8 @@ def __init__(self, rising=None, falling=None): self.falling = falling xmlr.reflect(JointCalibration, params = [ - xmlr.Attribute('rising', float), - xmlr.Attribute('falling', float) + xmlr.Attribute('rising', float, False), + xmlr.Attribute('falling', float, False) ]) class JointLimit(xmlr.Object): From e663dc793691c0b852cc968d87f54948a080ae6c Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 23 Sep 2014 13:06:47 +0900 Subject: [PATCH 3/3] set optional for pr2 transmission, see http://wiki.ros.org/urdf/XML/joint --- urdf_parser_py/src/urdf_parser_py/urdf.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py index 9492d8a5..0c4eb8bb 100644 --- a/urdf_parser_py/src/urdf_parser_py/urdf.py +++ b/urdf_parser_py/src/urdf_parser_py/urdf.py @@ -339,10 +339,10 @@ def __init__(self, name = None, joint = None, actuator = None, type = None, mech xmlr.reflect(Transmission, tag = 'transmission', params = [ name_attribute, - xmlr.Attribute('type', str), - xmlr.Element('joint', 'element_name'), - xmlr.Element('actuator', 'element_name'), - xmlr.Element('mechanicalReduction', float) + xmlr.Attribute('type', str, False), + xmlr.Element('joint', 'element_name', False), + xmlr.Element('actuator', 'element_name', False), + xmlr.Element('mechanicalReduction', float, False) ]) class Robot(xmlr.Object):