Use new Joint APIs for Parent/Child name (#92)

Follow-up to gazebosim/sdformat#1053. Signed-off-by: Steve Peters <[email protected]>
gazebosim · Jun 21, 2022 · 3b08d03 · 3b08d03
1 parent 59a00a7
commit 3b08d03
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Showing 4 changed files with 20 additions and 20 deletions.
diff --git a/sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/joint.py b/sdformat_mjcf/src/sdformat_mjcf/mjcf_to_sdformat/converters/joint.py
@@ -30,12 +30,12 @@ def add_fixed_joint(parent_name, child_name):
     joint_sdf = sdf.Joint()
     joint_sdf.set_type(sdf.JointType.FIXED)
     if parent_name is None:
-        joint_sdf.set_parent_link_name("world")
+        joint_sdf.set_parent_name("world")
     else:
-        joint_sdf.set_parent_link_name(parent_name)
-    joint_sdf.set_child_link_name(child_name)
+        joint_sdf.set_parent_name(parent_name)
+    joint_sdf.set_child_name(child_name)
     joint_sdf.set_name(
-        "fixed_" + joint_sdf.parent_link_name() + "_" + child_name + "_joint")
+        "fixed_" + joint_sdf.parent_name() + "_" + child_name + "_joint")
     return joint_sdf
 
 
@@ -100,14 +100,14 @@ def mjcf_joint_to_sdf(joint, parent_name, child_name, default_classes=None):
         joint_sdf.set_name("joint_" + joint.name)
     else:
         joint_sdf.set_name(
-            "joint_" + joint_sdf.parent_link_name() + "_" + child_name)
+            "joint_" + joint_sdf.parent_name() + "_" + child_name)
 
     if parent_name is None:
-        joint_sdf.set_parent_link_name("world")
+        joint_sdf.set_parent_name("world")
     else:
-        joint_sdf.set_parent_link_name(parent_name)
+        joint_sdf.set_parent_name(parent_name)
 
-    joint_sdf.set_child_link_name(child_name)
+    joint_sdf.set_child_name(child_name)
 
     if joint.axis is not None:
         joint_axis_sdf.set_xyz(Vector3d(joint.axis[0],

diff --git a/sdformat_mjcf/tests/helpers.py b/sdformat_mjcf/tests/helpers.py
@@ -43,13 +43,13 @@ def resolve_parent_link_name(self, joint):
         try:
             return super().resolve_parent_link_name(joint)
         except RuntimeError:
-            return joint.parent_link_name()
+            return joint.parent_name()
 
     def resolve_child_link_name(self, joint):
         try:
             return super().resolve_child_link_name(joint)
         except RuntimeError:
-            return joint.child_link_name()
+            return joint.child_name()
 
 
 def setup_test_graph_resolver():

diff --git a/sdformat_mjcf/tests/sdformat_to_mjcf/test_add_model.py b/sdformat_mjcf/tests/sdformat_to_mjcf/test_add_model.py
@@ -110,8 +110,8 @@ def test_model_multiple_links_with_joint(self):
         joint = sdf.Joint()
         joint.set_name("joint")
         joint.set_type(sdf.JointType.FIXED)
-        joint.set_parent_link_name("base_link")
-        joint.set_child_link_name("upper_link")
+        joint.set_parent_name("base_link")
+        joint.set_child_name("upper_link")
         model.add_joint(joint)
 
         mj_root = add_model(self.mujoco, model)

diff --git a/sdformat_mjcf/tests/sdformat_to_mjcf/test_joints.py b/sdformat_mjcf/tests/sdformat_to_mjcf/test_joints.py
@@ -57,8 +57,8 @@ def test_defaults(self):
         joint = model.joint_by_index(0)
         self.assertNotEqual(None, joint)
         self.assertEqual(sdf.JointType.REVOLUTE, joint.type())
-        self.assertEqual("world", joint.parent_link_name())
-        self.assertEqual("body1", joint.child_link_name())
+        self.assertEqual("world", joint.parent_name())
+        self.assertEqual("body1", joint.child_name())
         self.assertNotEqual(None, joint.axis(0))
         self.assertEqual(Vector3d(0, 0, 1), joint.axis(0).xyz())
         self.assertEqual(0, joint.axis(0).damping())
@@ -71,8 +71,8 @@ def test_defaults(self):
         joint = model.joint_by_index(1)
         self.assertNotEqual(None, joint)
         self.assertEqual(sdf.JointType.REVOLUTE, joint.type())
-        self.assertEqual("world", joint.parent_link_name())
-        self.assertEqual("body1", joint.child_link_name())
+        self.assertEqual("world", joint.parent_name())
+        self.assertEqual("body1", joint.child_name())
         self.assertNotEqual(None, joint.axis(0))
         self.assertEqual(Vector3d(0, 1, 0), joint.axis(0).xyz())
         self.assertEqual(0, joint.axis(0).damping())
@@ -84,8 +84,8 @@ def test_defaults(self):
         joint = model.joint_by_index(2)
         self.assertNotEqual(None, joint)
         self.assertEqual(sdf.JointType.PRISMATIC, joint.type())
-        self.assertEqual("body1", joint.parent_link_name())
-        self.assertEqual("body2", joint.child_link_name())
+        self.assertEqual("body1", joint.parent_name())
+        self.assertEqual("body2", joint.child_name())
         self.assertNotEqual(None, joint.axis(0))
         self.assertEqual(Vector3d(0, 0, 1), joint.axis(0).xyz())
         self.assertEqual(0, joint.axis(0).damping())
@@ -97,8 +97,8 @@ def test_defaults(self):
         joint = model.joint_by_index(3)
         self.assertNotEqual(None, joint)
         self.assertEqual(sdf.JointType.PRISMATIC, joint.type())
-        self.assertEqual("body2", joint.parent_link_name())
-        self.assertEqual("body3", joint.child_link_name())
+        self.assertEqual("body2", joint.parent_name())
+        self.assertEqual("body3", joint.child_name())
         self.assertNotEqual(None, joint.axis(0))
         self.assertEqual(Vector3d(1, 0, 0), joint.axis(0).xyz())
         self.assertEqual(0.01, joint.axis(0).damping())