Merge pull request #46 from k-okada/add_optional

set limit(upper/lower), safety_controller(soft_upper/lower_limit, k_position)
ros · Sep 22, 2014 · c4ac03c · c4ac03c
2 parents b5ff0d6 + c39caa1
commit c4ac03c
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py
@@ -237,8 +237,8 @@ def __init__(self, effort=None, velocity=None, lower=None, upper=None):
 
 xmlr.reflect(JointLimit, params = [
 	xmlr.Attribute('effort', float),
-	xmlr.Attribute('lower', float),
-	xmlr.Attribute('upper', float),
+	xmlr.Attribute('lower', float, False, 0),
+	xmlr.Attribute('upper', float, False, 0),
 	xmlr.Attribute('velocity', float)
 	])
 
@@ -264,9 +264,9 @@ def __init__(self, velocity=None, position=None, lower=None, upper=None):
 
 xmlr.reflect(SafetyController, params = [
 	xmlr.Attribute('k_velocity', float),
-	xmlr.Attribute('k_position', float),
-	xmlr.Attribute('soft_lower_limit', float),
-	xmlr.Attribute('soft_upper_limit', float)
+	xmlr.Attribute('k_position', float, False, 0),
+	xmlr.Attribute('soft_lower_limit', float, False, 0),
+	xmlr.Attribute('soft_upper_limit', float, False, 0)
 	])
 
 class Joint(xmlr.Object):
@@ -462,4 +462,4 @@ def from_parameter_server(cls, key = 'robot_description'):
 # Make an alias
 URDF = Robot
 
-xmlr.end_namespace()
+xmlr.end_namespace()