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urdf parser incorrectly parses non-first child nodes #1504

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urdf parser incorrectly parses non-first child nodes #1504

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46 changes: 34 additions & 12 deletions drake/systems/plants/@RigidBodyManipulator/addRobotFromURDF.m
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Original file line number Diff line number Diff line change
Expand Up @@ -76,12 +76,16 @@

materials = node.getElementsByTagName('material');
for i=0:(materials.getLength()-1)
[~,options] = model.parseMaterial(materials.item(i),options);
if strcmp(model.name, materials.item(i).getParentNode.getAttribute('name'))
[~,options] = model.parseMaterial(materials.item(i),options);
end
end

parameters = node.getElementsByTagName('parameter');
for i=0:(parameters.getLength()-1)
model = parseParameter(model,robotnum,parameters.item(i),options);
if strcmp(model.name, parameters.item(i).getParentNode.getAttribute('name'))
model = parseParameter(model,robotnum,parameters.item(i),options);
end
end
% set the parameter frame immediately so that I can use the indices in my
% parameter parsing
Expand All @@ -92,48 +96,66 @@

links = node.getElementsByTagName('link');
for i=0:(links.getLength()-1)
model = parseLink(model,robotnum,links.item(i),options);
if strcmp(model.name, links.item(i).getParentNode.getAttribute('name'))
model = parseLink(model,robotnum,links.item(i),options);
end
end

collision_filter_groups = node.getElementsByTagName('collision_filter_group');
for i=0:(collision_filter_groups.getLength()-1)
model = parseCollisionFilterGroup(model,robotnum,collision_filter_groups.item(i),options);
if strcmp(model.name, collision_filter_groups.item(i).getParentNode.getAttribute('name'))
model = parseCollisionFilterGroup(model,robotnum,collision_filter_groups.item(i),options);
end
end

joints = node.getElementsByTagName('joint');
for i=0:(joints.getLength()-1)
model = parseJoint(model,robotnum,joints.item(i),options);
if strcmp(model.name, joints.item(i).getParentNode.getAttribute('name'))
model = parseJoint(model,robotnum,joints.item(i),options);
end
end

loopjoints = node.getElementsByTagName('loop_joint');
for i=0:(loopjoints.getLength()-1)
[model,loop] = RigidBodyLoop.parseURDFNode(model,robotnum,loopjoints.item(i),options);
model.loop=[model.loop,loop];
if strcmp(model.name, loopjoints.item(i).getParentNode.getAttribute('name'))
[model,loop] = RigidBodyLoop.parseURDFNode(model,robotnum,loopjoints.item(i),options);
model.loop=[model.loop,loop];
end
end

forces = node.getElementsByTagName('force_element');
for i=0:(forces.getLength()-1)
model = parseForceElement(model,robotnum,forces.item(i),options);
if strcmp(model.name, forces.item(i).getParentNode.getAttribute('name'))
model = parseForceElement(model,robotnum,forces.item(i),options);
end
end

transmissions = node.getElementsByTagName('transmission');
for i=0:(transmissions.getLength()-1)
model = parseTransmission(model,robotnum,transmissions.item(i),options);
if strcmp(model.name, transmissions.item(i).getParentNode.getAttribute('name'))
model = parseTransmission(model,robotnum,transmissions.item(i),options);
end
end

gazebos = node.getElementsByTagName('gazebo');
for i=0:(gazebos.getLength()-1)
model = parseGazebo(model,robotnum,gazebos.item(i),options);
if strcmp(model.name, gazebos.item(i).getParentNode.getAttribute('name'))
model = parseGazebo(model,robotnum,gazebos.item(i),options);
end
end

frames = node.getElementsByTagName('frame');
for i=0:(frames.getLength()-1)
model = parseFrame(model,robotnum,frames.item(i),options);
if strcmp(model.name, frames.item(i).getParentNode.getAttribute('name'))
model = parseFrame(model,robotnum,frames.item(i),options);
end
end

cables = node.getElementsByTagName('cable');
for i=0:(cables.getLength()-1)
model = parseCable(model,robotnum,cables.item(i),options);
if strcmp(model.name, cables.item(i).getParentNode.getAttribute('name'))
model = parseCable(model,robotnum,cables.item(i),options);
end
end

% weld the root link of this robot to the world link
Expand Down