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jhavljhavl
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moved urdf and xacro
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‎roboticstoolbox/backends/__init__.py

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@@ -1,5 +1,4 @@
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from roboticstoolbox.backends.PyPlot import *
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from roboticstoolbox.backends.urdf import *
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from roboticstoolbox.backends.Swift import *
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try:

‎roboticstoolbox/robot/ERobot.py

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# from roboticstoolbox.backends.PyPlot.functions import \
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# _plot, _teach, _fellipse, _vellipse, _plot_ellipse, \
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# _plot2, _teach2
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from roboticstoolbox.backends import xacro
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from roboticstoolbox.backends import URDF
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from roboticstoolbox.tools import xacro
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from roboticstoolbox.tools import URDF
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from roboticstoolbox.robot.Robot import Robot
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from roboticstoolbox.robot.Gripper import Gripper
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from pathlib import PurePath, PurePosixPath

‎roboticstoolbox/robot/Robot.py

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verifymatrix, getunit
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from roboticstoolbox.robot.Link import Link
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from spatialmath.base.transforms3d import tr2delta
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# from roboticstoolbox.backends import URDF
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# from roboticstoolbox.backends import xacro
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# from roboticstoolbox.tools import urdf
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# from roboticstoolbox.tools import xacro
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from pathlib import PurePath, PurePosixPath
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from scipy.optimize import minimize, Bounds, LinearConstraint
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from roboticstoolbox.tools.null import null

‎roboticstoolbox/tools/__init__.py

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@@ -3,6 +3,7 @@
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from roboticstoolbox.tools.null import null
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from roboticstoolbox.tools.p_servo import p_servo
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from roboticstoolbox.tools.ticker import Ticker
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from roboticstoolbox.tools.urdf import *
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# from roboticstoolbox.tools.stdout_supress import stdout_supress
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__all__ = [

‎roboticstoolbox/backends/urdf/__init__.py renamed to ‎roboticstoolbox/tools/urdf/__init__.py

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from roboticstoolbox.backends.urdf.urdf import (
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from roboticstoolbox.tools.urdf.urdf import (
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URDFType,
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Box, Cylinder, Sphere, Mesh, Geometry,
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Collision, Visual, Inertial,

‎roboticstoolbox/backends/urdf/tests/data/ur5.urdf renamed to ‎roboticstoolbox/tools/urdf/tests/data/ur5.urdf

File renamed without changes.

‎roboticstoolbox/backends/urdf/tests/test_urdf.py renamed to ‎roboticstoolbox/tools/urdf/tests/test_urdf.py

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import unittest
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import roboticstoolbox as rp
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from roboticstoolbox.backends import URDF, Link, Joint, Transmission, xacro
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from roboticstoolbox.tools import URDF, Link, Joint, Transmission, xacro
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import numpy as np
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import numpy.testing as nt
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@@ -43,17 +43,17 @@ def test_urdf_visuals(self):
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urdf.links[0].visuals[0].origin,
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np.ndarray))
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urdf.links[0].visuals[0].geometry.box = rp.backends.urdf.Box([1, 2, 3])
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urdf.links[0].visuals[0].geometry.box = rp.tools.urdf.Box([1, 2, 3])
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self.assertTrue(
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isinstance(
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urdf.links[0].visuals[0].geometry.geometry,
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rp.backends.urdf.Box))
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rp.tools.urdf.Box))
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urdf.links[0].visuals[0].geometry.cylinder = \
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rp.backends.urdf.Cylinder(1, 2)
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rp.tools.urdf.Cylinder(1, 2)
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urdf.links[0].visuals[0].geometry.sphere = \
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rp.backends.urdf.Sphere(2)
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rp.tools.urdf.Sphere(2)
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nt.assert_array_almost_equal(
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urdf.links[0].visuals[0].geometry.box.size,
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self.assertTrue(
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isinstance(
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urdf.links[0].visuals[0].geometry.mesh,
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rp.backends.urdf.Mesh))
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rp.tools.urdf.Mesh))
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try:
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xacro.main("")

‎roboticstoolbox/backends/urdf/urdf.py renamed to ‎roboticstoolbox/tools/urdf/urdf.py

File renamed without changes.

‎roboticstoolbox/backends/urdf/utils.py renamed to ‎roboticstoolbox/tools/urdf/utils.py

File renamed without changes.

‎roboticstoolbox/backends/xacro/__init__.py renamed to ‎roboticstoolbox/tools/xacro/__init__.py

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# The top level directory
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tld = ''
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def push_file(filename):
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"""
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Push a new filename to the filestack.

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