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Make URDF parser stricter about required attributes.

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Following the spec at http://wiki.ros.org/urdf/XML

PiperOrigin-RevId: 470192022
Change-Id: I4699b6f87fff5706b3ba5f33bb8242bb2ad33478
This commit is contained in:
Nimrod Gileadi
2022-08-26 02:08:07 -07:00
committed by Copybara-Service
parent 9d9493153c
commit 6b6fff69ba
1 changed files with 3 additions and 3 deletions
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src/xml/xml_urdf.cc
+3 -3
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@@ -255,7 +255,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
if ((temp = FindSubElem(elem, "material"))) {
// if color specified - use directly
if ((temp1 = FindSubElem(temp, "color"))) {
ReadAttr(temp1, "rgba", 4, rgba, text);
ReadAttr(temp1, "rgba", 4, rgba, text, /*required=*/true);
}
// otherwise use material table
@@ -332,7 +332,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
double axis[3] = {1, 0, 0};
Origin(joint_elem, pbody->pos, pbody->quat);
if ((elem = FindSubElem(joint_elem, "axis"))) {
ReadAttr(elem, "xyz", 3, axis, text);
ReadAttr(elem, "xyz", 3, axis, text, /*required=*/true);
}
// create joint (unless fixed)
@@ -626,7 +626,7 @@ void mjXURDF::MakeMaterials(XMLElement* elem) {
if (FindName(name, urMat) < 0) {
// add rgba value if available
if ((color = FindSubElem(elem, "color"))) {
ReadAttr(color, "rgba", 4, rgba.val, text);
ReadAttr(color, "rgba", 4, rgba.val, text, /*required=*/true);
AddName(name, urMat);
urRGBA.push_back(rgba);
}