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Multiple visual and collision elements load properly as aggregates #25

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Multiple visual and collision elements load properly as aggregates #25

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ce228e6
links and collisions load properly as aggregates
cpaxton Dec 6, 2017
4110477
remove commented out code
cpaxton Dec 6, 2017
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11 changes: 6 additions & 5 deletions src/urdf_parser_py/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -352,18 +352,19 @@ def joint_type(self, value): self.type = value
class Link(xmlr.Object):
def __init__(self, name=None, visual=None, inertial=None, collision=None,
origin=None):
self.aggregate_init()
self.name = name
self.visual = visual
self.inertial = inertial
self.collision = collision
self.visuals = []
self.inertials = inertial
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@sloretz sloretz Dec 18, 2017 •
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Since a link may only have one <interial> tag I think this should stay as intertial

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You mean inertial correct?

self.collisions = []
self.origin = origin

xmlr.reflect(Link, params=[
name_attribute,
origin_element,
xmlr.AggregateElement('visual', Visual),
xmlr.AggregateElement('collision', Collision),
xmlr.Element('inertial', Inertial, False),
xmlr.Element('visual', Visual, False),
xmlr.Element('collision', Collision, False)
])


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