Restored compatibility with Orocos KDL after Joint.None was removed

fjulian · Sep 9, 2020 · 0805476 · 0805476
1 parent 735d562
commit 0805476
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/kdl_parser_py/kdl_parser_py/urdf.py b/kdl_parser_py/kdl_parser_py/urdf.py
@@ -50,7 +50,9 @@ def _toKdlInertia(i):
 
 def _toKdlJoint(jnt):
 
-    fixed = lambda j,F: kdl.Joint(j.name, getattr(kdl.Joint, 'None'))
+    fixed = lambda j,F: kdl.Joint(
+        j.name,
+        getattr(kdl.Joint, 'Fixed') if hasattr(kdl.Joint, 'Fixed') else getattr(kdl.Joint, 'None'))
     rotational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.RotAxis)
     translational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.TransAxis)