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kdl_parser
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Restored compatibility with Orocos KDL after Joint.None was removed (#45)

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Julian Förster 2020-09-18 22:16:16 +02:00 committed by GitHub
parent 735d562454
commit a1ba6dfffc
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1 changed files with 3 additions and 1 deletions
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kdl_parser_py/kdl_parser_py/urdf.py
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@ -50,7 +50,9 @@ def _toKdlInertia(i):
def _toKdlJoint(jnt):
fixed = lambda j,F: kdl.Joint(j.name, getattr(kdl.Joint, 'None'))
fixed = lambda j,F: kdl.Joint(
j.name,
getattr(kdl.Joint, 'Fixed') if hasattr(kdl.Joint, 'Fixed') else getattr(kdl.Joint, 'None'))
rotational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.RotAxis)
translational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.TransAxis)