catching up tote

schpin_tote/src/lib/config.py

@@ -233,7 +233,7 @@ def _parse_val(val, top_cfg):
     unreplaced_count = 0
 
     # ignored_names is set of strings that are not considered variables
-    ignored_names = ["max", "min", "abs"]
+    ignored_names = ["max", "min", "abs", "Distance"]
     for unit_type in types:
         ignored_names.append(str(unit_type.__name__))
 
@@ -354,7 +354,9 @@ def parse_config(filename):
 
         Returns as dict/list tree with all formulars resolved. """
 
-    config = yaml.load(file(filename, "r"))
+    with open(filename, 'r') as content_file:
+        content = content_file.read()
+    config = yaml.load(content)
 
     # iterate till replaced_count is bigger than 0
     while _parse_config_rec(config, config)[0] > 0:

schpin_tote/src/lib/stl.py

 import subprocess, os
 
-from scad import convert_scad
+from lib.util import convert_scad
 
 
 def render(filename, scad_cfg, mirror):
@@ -17,7 +17,7 @@ def render(filename, scad_cfg, mirror):
 
     tmp_stl = "../stl/tmp.stl"
 
-    print "Rendering: ", filename
+    print("Rendering: ", filename)
     with open(os.devnull, 'wb') as devnull:
         subprocess.check_call(['openscad', '-o', tmp_stl, scad], stdout=devnull, stderr=devnull)
     subprocess.check_call(['ivcon', tmp_stl, filename])

schpin_tote/urdf/tote.urdf

+<?xml version="1.0" encoding="UTF-8"?>
 <robot name="Tote">
   <link name="base_link">
     <visual>