8000 Merge branch 'master' of https://github.com/petercorke/robotics-toolb… · ctc-eng/robotics-toolbox-python@5a305d9 · GitHub
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# Conflicts: # roboticstoolbox/robot/Link.py
2 parents 276ffc5 + 8fcb457 commit 5a305d9

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-14
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7 files changed

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lines changed

‎examples/test.py

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#!/usr/bin/env python
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"""
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@author Jesse Haviland
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"""
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import roboticstoolbox as rtb
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import spatialmath as sm
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import numpy as np
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import qpsolvers as qp
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import time
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# Launch the simulator Swift
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env = rtb.backend.Swift()
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env.launch()
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# Create a Panda robot object
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puma = rtb.models.Puma560()
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# Set joint angles to ready configuration
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puma.q = puma.qr
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# Add the puma to the simulator
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env.add(puma)

‎roboticstoolbox/backend/Swift/Swift.py

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@@ -38,7 +38,7 @@ class Swift(Connector): # pragma nocover
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:references:
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- https://github.com/jhavl/swift
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"""
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def __init__(self):
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super(Swift, self).__init__()
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:param dt: time step in milliseconds, defaults to 50
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:type dt: int, optional
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``env.step(args)`` triggers an update of the 3D scene in the Swift
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window referenced by ``env``.
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.. note::
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.. note::
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- Each robot in the scene is updated based on
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their control type (position, velocity, acceleration, or torque).
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"""
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# TODO how is the pose of shapes updated prior to step?
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super().step
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self._step_robots(dt)

‎roboticstoolbox/backend/urdf/urdf.py

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@@ -1744,7 +1744,7 @@ def __init__(self, name, links, joints=None,
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# Store the visuals, collisions, and inertials
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for i in range(len(joints)):
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link = self._link_map[joints[i].child]
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elinks[i].r = link.inertial.origin
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elinks[i].r = link.inertial.origin[:3, 3]
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elinks[i].m = link.ine 8000 rtial.mass
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elinks[i].inertia = link.inertial.inertia
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‎roboticstoolbox/robot/DHDynamics.py

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@@ -1427,7 +1427,7 @@ def _cross(a, b):
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a[0] * b[1] - a[1] * b[0]]
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if __name__ == "__main__":
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if __name__ == "__main__": # pragma nocover
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import roboticstoolbox as rtb
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# from spatialmath.base import symbolic as sym

‎roboticstoolbox/robot/ERobot.py

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@@ -265,7 +265,7 @@ def urdf_to_ets_args(self, file_path, tld=None):
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# get the path to the class that defines the robot
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classpath = sys.modules[self.__module__].__file__
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# add on relative path to get to the URDF or xacro file
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base_path = PurePath(classpath).parent.parent / 'xacro'
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base_path = PurePath(classpath).parent.parent / 'xacro'
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file_path = base_path / PurePosixPath(file_path)
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name, ext = splitext(file_path)
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‎roboticstoolbox/robot/Link.py

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@@ -5,6 +5,7 @@
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isscalar, isvector, ismatrix
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from ansitable import ANSITable, Column
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def _listen_dyn(func):
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"""
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Decorator for property setters
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return func(*args)
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return wrapper_listen_dyn
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class Link:
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"""
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Link superclass
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:parts: 2
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"""
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def __init__(self,
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def __init__(
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self,
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name='',
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offset=0.0,
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qlim=np.zeros(2),
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self.Tc = Tc
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self.G = G
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def copy(self):
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"""
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Copy of link object
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- ``link.flip = ...`` checks and sets the joint flip status
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Joint flip defines the direction of motion of the joint.
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``flip = False`` is conventional motion direction:
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- revolute motion is a positive rotation about the z-axis
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- ``link.I = ...`` checks and sets the link inertia
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Link inertia is a symmetric 3x3 matrix describing the inertia with respect
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to a frame with its origin at the centre of mass, and with axes parallel to those of
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the link frame.
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Link inertia is a symmetric 3x3 matrix describing the inertia with
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respect to a frame with its origin at the centre of mass, and with
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axes parallel to those of the link frame.
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The inertia matrix is
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:math:`\begin{bmatrix} I_{xx} & I_{xy} & I_{xz} \\ I_{xy} & I_{yy} & I_{yz} \\I_{xz} & I_{yz} & I_{zz} \end{bmatrix}`
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and can be specified as either:
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- a 3 ⨉ 3 symmetric matrix

‎tests/test_ELink.py

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@@ -160,7 +160,7 @@ def test_properties(self):
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l0 = rp.ELink()
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self.assertEqual(l0.m, 0.0)
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nt.assert_array_almost_equal(l0.r.A, np.eye(4))
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nt.assert_array_almost_equal(l0.r, np.zeros(3))
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self.assertEqual(l0.Jm, 0.0)
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def test_fail_parent(self):

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