From a1ba6dfffc9c95b30d8a099f8785db4cf5c0342f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Julian=20F=C3=B6rster?= Date: Fri, 18 Sep 2020 22:16:16 +0200 Subject: [PATCH] Restored compatibility with Orocos KDL after Joint.None was removed (#45) --- kdl_parser_py/kdl_parser_py/urdf.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/kdl_parser_py/kdl_parser_py/urdf.py b/kdl_parser_py/kdl_parser_py/urdf.py index 1b68296..5ab8fd3 100644 --- a/kdl_parser_py/kdl_parser_py/urdf.py +++ b/kdl_parser_py/kdl_parser_py/urdf.py @@ -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)