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Parse URDF continuous joint effort/velocity limits #684

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Sep 4, 2021
Merged

Parse URDF continuous joint effort/velocity limits #684

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75e4226
Test URDF continuous joint effort/velocity limits
scpeters Sep 2, 2021
33e4b4d
Parse URDF continuous joint effort/velocity limits
scpeters Sep 2, 2021
09fac1b
Merge branch 'sdf9' into urdf_continuous_effort_velocity_limits
scpeters Sep 2, 2021
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12 changes: 4 additions & 8 deletions src/parser_urdf.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3016,10 +3016,6 @@ void CreateJoint(TiXmlElement *_root,
Values2str(1, &_link->parent_joint->limits->lower));
AddKeyValue(jointAxisLimit, "upper",
Values2str(1, &_link->parent_joint->limits->upper));
AddKeyValue(jointAxisLimit, "effort",
Values2str(1, &_link->parent_joint->limits->effort));
AddKeyValue(jointAxisLimit, "velocity",
Values2str(1, &_link->parent_joint->limits->velocity));
}
else if (_link->parent_joint->type != urdf::Joint::CONTINUOUS)
{
Expand All @@ -3041,11 +3037,11 @@ void CreateJoint(TiXmlElement *_root,
Values2str(1, &_link->parent_joint->limits->lower));
AddKeyValue(jointAxisLimit, "upper",
Values2str(1, &_link->parent_joint->limits->upper));
AddKeyValue(jointAxisLimit, "effort",
Values2str(1, &_link->parent_joint->limits->effort));
AddKeyValue(jointAxisLimit, "velocity",
Values2str(1, &_link->parent_joint->limits->velocity));
}
AddKeyValue(jointAxisLimit, "effort",
Values2str(1, &_link->parent_joint->limits->effort));
AddKeyValue(jointAxisLimit, "velocity",
Values2str(1, &_link->parent_joint->limits->velocity));
}
}

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7 changes: 7 additions & 0 deletions test/integration/urdf_joint_parameters.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,13 @@ TEST(SDFParser, JointAxisParameters)
ASSERT_TRUE(dynamics->HasElement("friction"));
EXPECT_DOUBLE_EQ(value, dynamics->Get<double>("damping"));
EXPECT_DOUBLE_EQ(value, dynamics->Get<double>("friction"));

EXPECT_TRUE(axis->HasElement("limit"));
sdf::ElementPtr limit = axis->GetElement("limit");
EXPECT_TRUE(limit->HasElement("effort"));
EXPECT_TRUE(limit->HasElement("velocity"));
EXPECT_DOUBLE_EQ(value, limit->Get<double>("effort"));
EXPECT_DOUBLE_EQ(value, limit->Get<double>("velocity"));
}
EXPECT_EQ(bitmask, 0x3u);

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2 changes: 2 additions & 0 deletions test/integration/urdf_joint_parameters.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
<parent link="world"/>
<child link="link0"/>
<dynamics damping="0.0" friction="0.0" />
<limit effort="0.0" velocity="0.0" />
</joint>

<link name="link0">
Expand All @@ -31,6 +32,7 @@
<parent link="link0"/>
<child link="link1"/>
<dynamics damping="1.0" friction="1.0" />
<limit effort="1.0" velocity="1.0" />
</joint>

<link name="link1">
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