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jhavljhavl
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Added urdf string and path prop to ERobot's
1 parent e8065d6 commit 29fe3e7

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21 files changed

+270
-180
lines changed

21 files changed

+270
-180
lines changed

‎roboticstoolbox/models/URDF/Frankie.py

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -32,12 +32,17 @@ class Frankie(ERobot):
3232

3333
def __init__(self):
3434

35-
links, name = self.URDF_read(
35+
links, name, urdf_string, urdf_filepath = self.URDF_read(
3636
"franka_description/robots/frankie_arm_hand.urdf.xacro"
3737
)
3838

3939
super().__init__(
40-
links, name=name, manufacturer="Franka Emika", gripper_links=links[11]
40+
links,
41+
name=name,
42+
manufacturer="Franka Emika",
43+
gripper_links=links[11],
44+
urdf_string=urdf_string,
45+
urdf_filepath=urdf_filepath,
4146
)
4247

4348
self.grippers[0].tool = SE3(0, 0, 0.1034)

‎roboticstoolbox/models/URDF/KinovaGen3.py

Lines changed: 13 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -31,27 +31,30 @@ class KinovaGen3(ERobot):
3131

3232
def __init__(self):
3333

34-
elinks, name = self.URDF_read(
35-
"kortex_description/robots/gen3.xacro")
34+
links, name, urdf_string, urdf_filepath = self.URDF_read(
35+
"kortex_description/robots/gen3.xacro"
36+
)
3637

3738
super().__init__(
38-
elinks,
39+
links,
3940
name=name,
40-
manufacturer='Kinova'
41+
manufacturer="Kinova",
42+
urdf_string=urdf_string,
43+
urdf_filepath=urdf_filepath,
4144
# gripper_links=elinks[9]
4245
)
4346

4447
# self.qdlim = np.array([
4548
# 2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0])
4649

47-
self.addconfiguration("qz", np.array(
48-
[0, 0, 0, 0, 0, 0, 0]))
50+
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0]))
4951

50-
self.addconfiguration("qr", np.array(
51-
[np.pi, -0.3, 0, -1.6, 0, -1.0, np.pi / 2]))
52+
self.addconfiguration(
53+
"qr", np.array([np.pi, -0.3, 0, -1.6, 0, -1.0, np.pi / 2])
54+
)
5255

5356

54-
if __name__ == '__main__': # pragma nocover
57+
if __name__ == "__main__": # pragma nocover
5558

56-
robot = LBR()
59+
robot = KinovaGen3()
5760
print(robot)

‎roboticstoolbox/models/URDF/LBR.py

Lines changed: 9 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -31,27 +31,28 @@ class LBR(ERobot):
3131

3232
def __init__(self):
3333

34-
links, name = self.URDF_read(
35-
"kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.xacro")
34+
links, name, urdf_string, urdf_filepath = self.URDF_read(
35+
"kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.xacro"
36+
)
3637

3738
super().__init__(
3839
links,
3940
name=name,
40-
manufacturer='Kuka'
41+
manufacturer="Kuka",
42+
urdf_string=urdf_string,
43+
urdf_filepath=urdf_filepath,
4144
# gripper_links=elinks[9]
4245
)
4346

4447
# self.qdlim = np.array([
4548
# 2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0])
4649

47-
self.addconfiguration("qz", np.array(
48-
[0, 0, 0, 0, 0, 0, 0]))
50+
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0]))
4951

50-
self.addconfiguration("qr", np.array(
51-
[0, -0.3, 0, -1.9, 0, 1.5, np.pi/4]))
52+
self.addconfiguration("qr", np.array([0, -0.3, 0, -1.9, 0, 1.5, np.pi / 4]))
5253

5354

54-
if __name__ == '__main__': # pragma nocover
55+
if __name__ == "__main__": # pragma nocover
5556

5657
robot = LBR()
5758
print(robot)

‎roboticstoolbox/models/URDF/Mico.py

Lines changed: 15 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -26,24 +26,28 @@ class Mico(ERobot):
2626
.. codeauthor:: Jesse Haviland
2727
.. sectionauthor:: Peter Corke
2828
"""
29+
2930
def __init__(self):
3031

31-
links, name = self.URDF_read(
32-
"kinova_description/urdf/j2n4s300_standalone.xacro")
32+
links, name, urdf_string, urdf_filepath = self.URDF_read(
33+
"kinova_description/urdf/j2n4s300_standalone.xacro"
34+
)
3335

3436
super().__init__(
35-
links,
36-
name=name,
37-
manufacturer='Kinova'
38-
)
39-
40-
self.addconfiguration(
41-
"qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
37+
links,
38+
name=name,
39+
manufacturer="Kinova",
40+
urdf_string=urdf_string,
41+
urdf_filepath=urdf_filepath,
42+
)
43+
44+
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
4245
self.addconfiguration(
43-
"qr", np.array([0, 45, 60, 0, 0, 0, 0, 0, 0, 0]) * np.pi/180)
46+
"qr", np.array([0, 45, 60, 0, 0, 0, 0, 0, 0, 0]) * np.pi / 180
47+
)
4448

4549

46-
if __name__ == '__main__': # pragma nocover
50+
if __name__ == "__main__": # pragma nocover
4751

4852
robot = Mico()
4953
print(robot)

‎roboticstoolbox/models/URDF/PR2.py

Lines changed: 8 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -7,11 +7,17 @@
77
class PR2(ERobot):
88
def __init__(self):
99

10-
links, name = self.URDF_read(
10+
links, name, urdf_string, urdf_filepath = self.URDF_read(
1111
"pr2_description/robots/pr2.urdf.xacro", "pr2_description"
1212
)
1313

14-
super().__init__(links, gripper_links=[links[53], links[73]], name=name)
14+
super().__init__(
15+
links,
16+
gripper_links=[links[53], links[73]],
17+
name=name,
18+
urdf_string=urdf_string,
19+
urdf_filepath=urdf_filepath,
20+
)
1521

1622
self.grippers[0].tool = self.link_dict["r_gripper_tool_frame"].A()
1723
self.grippers[1].tool = self.link_dict["l_gripper_tool_frame"].A()

‎roboticstoolbox/models/URDF/Panda.py

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -32,12 +32,17 @@ class Panda(ERobot):
3232

3333
def __init__(self):
3434

35-
links, name = self.URDF_read(
35+
links, name, urdf_string, urdf_filepath = self.URDF_read(
3636
"franka_description/robots/panda_arm_hand.urdf.xacro"
3737
)
3838

3939
super().__init__(
40-
links, name=name, manufacturer="Franka Emika", gripper_links=links[9]
40+
links,
41+
name=name,
42+
manufacturer="Franka Emika",
43+
gripper_links=links[9],
44+
urdf_string=urdf_string,
45+
urdf_filepath=urdf_filepath,
4146
)
4247

4348
self.grippers[0].tool = SE3(0, 0, 0.1034)

‎roboticstoolbox/models/URDF/Puma560.py

Lines changed: 11 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -39,12 +39,16 @@ class Puma560(ERobot):
3939

4040
def __init__(self):
4141

42-
links, name = self.URDF_read(
43-
"puma560_description/urdf/puma560_robot.urdf.xacro")
42+
links, name, urdf_string, urdf_filepath = self.URDF_read(
43+
"puma560_description/urdf/puma560_robot.urdf.xacro"
44+
)
4445

4546
super().__init__(
4647
links,
47-
name=name)
48+
name=name,
49+
urdf_string=urdf_string,
50+
urdf_filepath=urdf_filepath,
51+
)
4852

4953
self.manufacturer = "Unimation"
5054
# self.ee_link = self.ets[9]
@@ -53,16 +57,16 @@ def __init__(self):
5357
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
5458

5559
# ready pose, arm up
56-
self.addconfiguration("qr", np.array([0, pi/2, -pi/2, 0, 0, 0]))
60+
self.addconfiguration("qr", np.array([0, pi / 2, -pi / 2, 0, 0, 0]))
5761

5862
# straight and horizontal
59-
self.addconfiguration("qs", np.array([0, 0, -pi/2, 0, 0, 0]))
63+
self.addconfiguration("qs", np.array([0, 0, -pi / 2, 0, 0, 0]))
6064

6165
# nominal table top picking pose
62-
self.addconfiguration("qn", np.array([0, pi/4, pi, 0, pi/4, 0]))
66+
self.addconfiguration("qn", np.array([0, pi / 4, pi, 0, pi / 4, 0]))
6367

6468

65-
if __name__ == '__main__': # pragma nocover
69+
if __name__ == "__main__": # pragma nocover
6670

6771
robot = Puma560()
6872
print(robot)

‎roboticstoolbox/models/URDF/UR10.py

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -29,23 +29,23 @@ class UR10(ERobot):
2929

3030
def __init__(self):
3131

32-
links, name = self.URDF_read(
32+
links, name, urdf_string, urdf_filepath = self.URDF_read(
3333
"ur_description/urdf/ur10_joint_limited_robot.urdf.xacro"
3434
)
3535

3636
super().__init__(
37-
links,
38-
name=name.upper(),
39-
manufacturer='Universal Robotics'
40-
)
37+
links,
38+
name=name.upper(),
39+
manufacturer="Universal Robotics",
40+
urdf_string=urdf_string,
41+
urdf_filepath=urdf_filepath,
42+
)
4143

42-
self.addconfiguration(
43-
"qz", np.array([0, 0, 0, 0, 0, 0]))
44-
self.addconfiguration(
45-
"qr", np.array([np.pi, 0, 0, 0, np.pi/2, 0]))
44+
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
45+
self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0]))
4646

4747

48-
if __name__ == '__main__': # pragma nocover
48+
if __name__ == "__main__": # pragma nocover
4949

5050
robot = UR10()
5151
print(robot)

‎roboticstoolbox/models/URDF/UR3.py

Lines changed: 12 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -26,22 +26,26 @@ class UR3(ERobot):
2626
.. codeauthor:: Jesse Haviland
2727
.. sectionauthor:: Peter Corke
2828
"""
29+
2930
def __init__(self):
3031

31-
links, name = self.URDF_read(
32-
"ur_description/urdf/ur3_joint_limited_robot.urdf.xacro")
32+
links, name, urdf_string, urdf_filepath = self.URDF_read(
33+
"ur_description/urdf/ur3_joint_limited_robot.urdf.xacro"
34+
)
3335

3436
super().__init__(
35-
links,
36-
name=name.upper(),
37-
manufacturer='Universal Robotics'
38-
)
37+
links,
38+
name=name.upper(),
39+
manufacturer="Universal Robotics",
40+
urdf_string=urdf_string,
41+
urdf_filepath=urdf_filepath,
42+
)
3943

4044
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
41-
self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi/2, 0]))
45+
self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0]))
4246

4347

44-
if __name__ == '__main__': # pragma nocover
48+
if __name__ == "__main__": # pragma nocover
4549

4650
robot = UR3()
4751
print(robot)

‎roboticstoolbox/models/URDF/UR5.py

Lines changed: 26 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -29,27 +29,39 @@ class UR5(ERobot):
2929

3030
def __init__(self):
3131

32-
links, name = self.URDF_read(
33-
"ur_description/urdf/ur5_joint_limited_robot.urdf.xacro")
32+
links, name, urdf_string, urdf_filepath = self.URDF_read(
33+
"ur_description/urdf/ur5_joint_limited_robot.urdf.xacro"
34+
)
3435

3536
super().__init__(
36-
links,
37-
name=name.upper(),
38-
manufacturer='Universal Robotics',
39-
gripper_links=links[7]
40-
)
37+
links,
38+
name=name.upper(),
39+
manufacturer="Universal Robotics",
40+
gripper_links=links[7],
41+
urdf_string=urdf_string,
42+
urdf_filepath=urdf_filepath,
43+
)
4144

4245
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
4346
self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0]))
4447

4548
# sol=robot.ikine_LM(SE3(0.5, -0.2, 0.2)@SE3.OA([1,0,0],[0,0,-1]))
46-
self.addconfiguration("qn", np.array(
47-
[
48-
-7.052413e-01, 3.604328e-01, -1.494176e+00,
49-
1.133744e+00, -7.052413e-01, 0]))
50-
51-
52-
if __name__ == '__main__': # pragma nocover
49+
self.addconfiguration(
50+
"qn",
51+
np.array(
52+
[
53+
-7.052413e-01,
54+
3.604328e-01,
55+
-1.494176e00,
56+
1.133744e00,
57+
-7.052413e-01,
58+
0,
59+
]
60+
),
61+
)
62+
63+
64+
if __name__ == "__main__": # pragma nocover
5365

5466
robot = UR5()
5567
print(robot)

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