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Allow name attribute in visual tag #31

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Merged
merged 4 commits into from
Mar 9, 2020
Merged

Allow name attribute in visual tag #31

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e10dd37
Allow name attribute in visual tag
May 18, 2018
624bc73
Add name kwarg at end
sloretz Mar 9, 2020
a18d9af
Add test for <visual name="...">
sloretz Mar 9, 2020
370b782
Add version attribute to test
sloretz Mar 9, 2020
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4 changes: 3 additions & 1 deletion src/urdf_parser_py/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -194,13 +194,15 @@ def check_valid(self):


class Visual(xmlr.Object):
def __init__(self, geometry=None, material=None, origin=None):
def __init__(self, geometry=None, material=None, origin=None, name=None):
self.geometry = geometry
self.material = material
self.name = name
self.origin = origin


xmlr.reflect(Visual, tag='visual', params=[
xmlr.Attribute('name', str, False),
origin_element,
xmlr.Element('geometry', 'geometric'),
xmlr.Element('material', LinkMaterial, False)
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14 changes: 14 additions & 0 deletions test/test_urdf.py
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Expand Up @@ -164,6 +164,20 @@ def test_link_multiple_visual(self):
</robot>'''
self.parse_and_compare(xml)

def test_visual_with_name(self):
xml = '''<?xml version="1.0"?>
<robot name="test" version="1.0">
<link name="link">
<visual name="alice">
<geometry>
<cylinder length="1" radius="1"/>
</geometry>
<material name="mat"/>
</visual>
</link>
</robot>'''
self.parse_and_compare(xml)

def test_link_multiple_collision(self):
xml = '''<?xml version="1.0"?>
<robot name="test">
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