pr2 working

jhavl · jhavl · commit 0146cf4db16e · 2020-09-30T09:29:14.000+10:00
diff --git a/roboticstoolbox/backend/urdf/urdf.py b/roboticstoolbox/backend/urdf/urdf.py
@@ -153,6 +153,7 @@ def _parse(cls, node, path):
             and elements in the class arrays.
         """
         kwargs = cls._parse_simple_attribs(node)
+        print(kwargs)
         kwargs.update(cls._parse_simple_elements(node, path))
         return kwargs
 
@@ -1212,11 +1213,11 @@ def actuators(self, value):   # pragma nocover
     @classmethod
     def _from_xml(cls, node, path):
         kwargs = cls._parse(node, path)
-        # print(cls._parse(node, path))
-        # if node.find('type') is not None:
-        kwargs['trans_type'] = node.find('type').text
-        # else:
-            # kwargs['trans_type'] = ''
+        print(cls._parse(node, path))
+        if node.find('type') is not None:
+            kwargs['trans_type'] = node.find('type').text
+        else:
+            kwargs['trans_type'] = ' '
 
         return Transmission(**kwargs)
 
@@ -1751,7 +1752,8 @@ def __init__(self, name, links, joints=None,
             elinks[i].inertia = link.inertial.inertia
 
             try:
-                elinks[i].B = self.joints[i].dynamics.friction
+                if self.joints[i].dynamics.friction is not None:
+                    elinks[i].B = self.joints[i].dynamics.friction
 
                 # TODO Add damping
                 self.joints[i].dynamics.damping
diff --git a/roboticstoolbox/backend/xacro/__init__.py b/roboticstoolbox/backend/xacro/__init__.py
@@ -200,8 +200,8 @@ def eval_extension(s):  # pragma: no cover
         return os.getcwd()
 
     if s.startswith('$(find'):
-        # return tld
-        return '..'
+        return tld
+        # return '..'
 
     if s.startswith('$(arg'):
         s = s.replace('$(arg ', '')
@@ -1049,7 +1049,7 @@ def process_file(input_file_name, **kwargs):   # pragma: no cover
     return doc
 
 
-def main(filename):   # pragma: no cover
+def main(filename, tld_other=None):   # pragma: no cover
     opts = {
         'output': None,
         'just_deps': False,
@@ -1060,7 +1060,11 @@ def main(filename):   # pragma: no cover
     }
 
     global tld
-    tld = Path(filename).parent.as_posix()
+
+    if tld_other is None:
+        tld = '..'
+    else:
+        tld = tld_other
 
     try:
         # open and process file
diff --git a/roboticstoolbox/models/URDF/PR2.py b/roboticstoolbox/models/URDF/PR2.py
@@ -12,10 +12,11 @@ def __init__(self):
 
         mpath = Path(rp.__file__).parent
         fpath = mpath / 'models' / 'xacro' / 'pr2_description' / 'robots'
-        fname = 'right_arm.urdf.xacro'
+        fname = 'pr2.urdf.xacro'
+        tld = mpath / 'models' / 'xacro' / 'pr2_description'
 
         args = super(PR2, self).urdf_to_ets_args(
-            (fpath / fname).as_posix())
+            (fpath / fname).as_posix(), tld)
 
         super(PR2, self).__init__(
             args[0],
diff --git a/roboticstoolbox/models/xacro/pr2_description/urdf/forearm_v0/forearm.urdf.xacro b/roboticstoolbox/models/xacro/pr2_description/urdf/forearm_v0/forearm.urdf.xacro
@@ -120,7 +120,7 @@
     </link>
     <!-- extensions-->
     <xacro:pr2_forearm_gazebo_v0 side="${side}" />
-    <xacro:pr2_forearm_transmission_v0 side="${side}" />
+    <!-- <xacro:pr2_forearm_transmission_v0 side="${side}" /> -->
 
   </xacro:macro>
 
diff --git a/roboticstoolbox/models/xacro/pr2_description/urdf/gripper_v0/gripper.urdf.xacro b/roboticstoolbox/models/xacro/pr2_description/urdf/gripper_v0/gripper.urdf.xacro
@@ -353,7 +353,7 @@
 
     <!-- extensions -->
     <xacro:pr2_gripper_gazebo_v0 side="${side}" />
-    <xacro:pr2_gripper_transmission_v0 side="${side}"
+    <!-- <xacro:pr2_gripper_transmission_v0 side="${side}"
         screw_reduction="${screw_reduction}"
         gear_ratio="${gear_ratio}"
         theta0="${theta0}"
@@ -363,7 +363,7 @@
         h="${h}"
         a="${a}"
         b="${b}"
-        r="${r}" />
+        r="${r}" /> -->
 
   </xacro:macro>
 
diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py
@@ -255,11 +255,11 @@ def fk_dict(self):
     #     )
 
     @staticmethod
-    def urdf_to_ets_args(file_path):
+    def urdf_to_ets_args(file_path, tld=None):
         name, ext = splitext(file_path)
 
         if ext == '.xacro':
-            urdf_string = xacro.main(file_path)
+            urdf_string = xacro.main(file_path, tld)
             urdf = URDF.loadstr(urdf_string, file_path)
 
         return urdf.elinks, urdf.name
