8000 moved urdf and xacro · stonebig/robotics-toolbox-python@fa91131 · GitHub
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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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54
try:

‎roboticstoolbox/robot/ERobot.py

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@@ -14,8 +14,8 @@
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# from roboticstoolbox.backends.PyPlot.functions import \
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# _plot, _teach, _fellipse, _vellipse, _plot_ellipse, \
1616
# _plot2, _teach2
17-
from roboticstoolbox.backends import xacro
18-
from roboticstoolbox.backends import URDF
17+
from roboticstoolbox.tools import xacro
18+
from roboticstoolbox.tools import URDF
1919
from roboticstoolbox.robot.Robot import Robot
2020
from roboticstoolbox.robot.Gripper import Gripper
2121
from pathlib import PurePath, PurePosixPath

‎roboticstoolbox/robot/Robot.py

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@@ -7,8 +7,8 @@
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verifymatrix, getunit
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from roboticstoolbox.robot.Link import Link
99
from spatialmath.base.transforms3d import tr2delta
10-
# from roboticstoolbox.backends import URDF
11-
# from roboticstoolbox.backends import xacro
10+
# from roboticstoolbox.tools import urdf
11+
# from roboticstoolbox.tools import xacro
1212
from pathlib import PurePath, PurePosixPath
1313
from scipy.optimize import minimize, Bounds, LinearConstraint
1414
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
55
from roboticstoolbox.tools.ticker import Ticker
6+
from roboticstoolbox.tools.urdf import *
67
# from roboticstoolbox.tools.stdout_supress import stdout_supress
78

89
__all__ = [

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

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@@ -1,4 +1,4 @@
1-
from roboticstoolbox.backends.urdf.urdf import (
1+
from roboticstoolbox.tools.urdf.urdf import (
22
URDFType,
33
Box, Cylinder, Sphere, Mesh, Geometry,
44
Collision, Visual, Inertial,

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

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

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@@ -6,7 +6,7 @@
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77
import unittest
88
import roboticstoolbox as rp
9-
from roboticstoolbox.backends import URDF, Link, Joint, Transmission, xacro
9+
from roboticstoolbox.tools import URDF, Link, Joint, Transmission, xacro
1010
import numpy as np
1111
import numpy.testing as nt
1212

@@ -43,17 +43,17 @@ def test_urdf_visuals(self):
4343
urdf.links[0].visuals[0].origin,
4444
np.ndarray))
4545

46-
urdf.links[0].visuals[0].geometry.box = rp.backends.urdf.Box([1, 2, 3])
46+
urdf.links[0].visuals[0].geometry.box = rp.tools.urdf.Box([1, 2, 3])
4747
self.assertTrue(
4848
isinstance(
4949
urdf.links[0].visuals[0].geometry.geometry,
50-
rp.backends.urdf.Box))
50+
rp.tools.urdf.Box))
5151

5252
urdf.links[0].visuals[0].geometry.cylinder = \
53-
rp.backends.urdf.Cylinder(1, 2)
53+
rp.tools.urdf.Cylinder(1, 2)
5454

5555
urdf.links[0].visuals[0].geometry.sphere = \
56-
rp.backends.urdf.Sphere(2)
56+
rp.tools.urdf.Sphere(2)
5757

5858
nt.assert_array_almost_equal(
5959
urdf.links[0].visuals[0].geometry.box.size,
@@ -70,7 +70,7 @@ def test_urdf_visuals(self):
7070
self.assertTrue(
7171
isinstance(
7272
urdf.links[0].visuals[0].geometry.mesh,
73-
rp.backends.urdf.Mesh))
73+
rp.tools.urdf.Mesh))
7474

7575
try:
7676
xacro.main("")

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

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

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‎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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6465
def push_file(filename):
6566
"""
6667
Push a new filename to the filestack.

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

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

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‎roboticstoolbox/backends/xacro/tests/CMakeLists.txt renamed to ‎roboticstoolbox/tools/xacro/tests/CMakeLists.txt

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‎roboticstoolbox/backends/xacro/tests/broken.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/broken.xacro

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‎roboticstoolbox/backends/xacro/tests/emoji.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/emoji.xacro

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‎roboticstoolbox/backends/xacro/tests/include1.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/include1.xacro

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‎roboticstoolbox/backends/xacro/tests/include1.xml renamed to ‎roboticstoolbox/tools/xacro/tests/include1.xml

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‎roboticstoolbox/backends/xacro/tests/include2.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/include2.xacro

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‎roboticstoolbox/backends/xacro/tests/include2.xml renamed to ‎roboticstoolbox/tools/xacr 10000 o/tests/include2.xml

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‎roboticstoolbox/backends/xacro/tests/robots/README renamed to ‎roboticstoolbox/tools/xacro/tests/robots/README

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/base_v0/base.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/base_v0/base.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/base_v0/base.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/base_v0/base.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/base_v0/base.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/base_v0/base.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/common.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/common.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/forearm_v0/forearm.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/forearm_v0/forearm.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/forearm_v0/forearm.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/forearm_v0/forearm.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/forearm_v0/forearm.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/forearm_v0/forearm.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/gazebo/gazebo.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/gazebo/gazebo.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/gripper_v0/gripper.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/gripper_v0/gripper.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/gripper_v0/gripper.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/gripper_v0/gripper.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/gripper_v0/gripper.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/gripper_v0/gripper.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/head_v0/head.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/head_v0/head.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/head_v0/head.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/head_v0/head.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/head_v0/head.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/head_v0/head.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/materials.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/materials.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/pr2.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/pr2.urdf.xacro

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@@ -7,32 +7,32 @@
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<!-- The following included files set up definitions of parts of the robot body -->
99
<!-- misc common stuff? -->
10-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/common.xacro" />
10+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/common.xacro" />
1111
<!-- PR2 Arm -->
12-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/shoulder_v0/shoulder.urdf.xacro" />
13-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.urdf.xacro" />
14-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/forearm_v0/forearm.urdf.xacro" />
12+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/shoulder_v0/shoulder.urdf.xacro" />
13+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.urdf.xacro" />
14+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/forearm_v0/forearm.urdf.xacro" />
1515
<!-- PR2 gripper -->
16-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/gripper_v0/gripper.urdf.xacro" />
16+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/gripper_v0/gripper.urdf.xacro" />
1717
<!-- PR2 head -->
18-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/head_v0/head.urdf.xacro" />
18+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/head_v0/head.urdf.xacro" />
1919
<!-- PR2 tilting laser mount -->
20-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.urdf.xacro" />
20+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.urdf.xacro" />
2121
<!-- PR2 torso -->
22-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/torso_v0/torso.urdf.xacro" />
22+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/torso_v0/torso.urdf.xacro" />
2323
<!-- PR2 base -->
24-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/base_v0/base.urdf.xacro" />
24+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/base_v0/base.urdf.xacro" />
2525
<!-- Head sensors -->
26-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/head_sensor_package.urdf.xacro" />
27-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/kinect_prosilica_camera.urdf.xacro" />
26+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/head_sensor_package.urdf.xacro" />
27+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_prosilica_camera.urdf.xacro" />
2828
<!-- Camera sensors -->
29-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/wge100_camera.urdf.xacro" />
29+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/wge100_camera.urdf.xacro" />
3030
<!-- Texture projector -->
31-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/projector_wg6802418.urdf.xacro" />
31+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/projector_wg6802418.urdf.xacro" />
3232
<!-- generic simulator_gazebo plugins for starting mechanism control, ros time, ros battery -->
33-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/gazebo/gazebo.urdf.xacro" />
33+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/gazebo/gazebo.urdf.xacro" />
3434
<!-- materials for visualization -->
35-
<xacro:include filename="roboticstoolbox/backends/xacro/tests/robots/pr2/materials.urdf.xacro" />
35+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/robots/pr2/materials.urdf.xacro" />
3636

3737
<!-- Now we can start using the macros included above to define the actual PR2 -->
3838

‎roboticstoolbox/backends/xacro/tests/robots/pr2/pr2_1.11.4.xml renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/pr2_1.11.4.xml

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/double_stereo_camera.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/double_stereo_camera.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/double_stereo_camera.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/double_stereo_camera.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/head_sensor_package.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/head_sensor_package.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/head_sensor_package.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/head_sensor_package.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/hokuyo_lx30_laser.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/hokuyo_lx30_laser.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/hokuyo_lx30_laser.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/hokuyo_lx30_laser.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/kinect_camera.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_camera.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/kinect_camera.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_camera.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/kinect_prosilica_camera.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_prosilica_camera.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/kinect_prosilica_camera.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/kinect_prosilica_camera.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/microstrain_3dmgx2_imu.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/microstrain_3dmgx2_imu.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/microstrain_3dmgx2_imu.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/microstrain_3dmgx2_imu.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/projector_wg6802418.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/projector_wg6802418.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/projector_wg6802418.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/projector_wg6802418.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/prosilica_gc2450_camera.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/prosilica_gc2450_camera.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/prosilica_gc2450_camera.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/prosilica_gc2450_camera.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/stereo_camera.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/stereo_camera.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/stereo_camera.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/stereo_camera.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/wge100_camera.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/wge100_camera.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/sensors/wge100_camera.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/sensors/wge100_camera.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/shoulder_v0/shoulder.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/shoulder_v0/shoulder.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/shoulder_v0/shoulder.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/shoulder_v0/shoulder.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/shoulder_v0/shoulder.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/shoulder_v0/shoulder.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/tilting_laser_v0/tilting_laser.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/torso_v0/torso.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/torso_v0/torso.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/torso_v0/torso.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/torso_v0/torso.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/torso_v0/torso.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/torso_v0/torso.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.gazebo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.gazebo.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.transmission.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.transmission.xacro

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‎roboticstoolbox/backends/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.urdf.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/robots/pr2/upper_arm_v0/upper_arm.urdf.xacro

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‎roboticstoolbox/backends/xacro/tests/settings.yaml renamed to ‎roboticstoolbox/tools/xacro/tests/settings.yaml

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‎roboticstoolbox/backends/xacro/tests/subdir/foo.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/subdir/foo.xacro

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‎roboticstoolbox/backends/xacro/tests/subdir/include-recursive.xacro renamed to ‎roboticstoolbox/tools/xacro/tests/subdir/include-recursive.xacro

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‎roboticstoolbox/backends/xacro/tests/subdir/include1.xml renamed to ‎roboticstoolbox/tools/xacro/tests/subdir/include1.xml

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‎roboticstoolbox/backends/xacro/tests/test_xacro.py renamed to ‎roboticstoolbox/tools/xacro/tests/test_xacro.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -42,8 +42,8 @@
4242
import subprocess
4343
import sys
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import unittest
45-
from roboticstoolbox.backends import xacro
46-
from roboticstoolbox.backends.xacro.cli import process_args
45+
from roboticstoolbox.tools import xacro
46+
from roboticstoolbox.tools.xacro.cli import process_args
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import xml.dom
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from xml.dom.minidom import parseString
4949

@@ -591,7 +591,7 @@ def test_include_deprecated(self):
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592592
def test_include_from_variable(self):
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doc = '''<a xmlns:xacro="http://www.ros.org/xacro">
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<xacro:property name="file" value="roboticstoolbox/backends/xacro/tests/include1.xml"/>
594+
<xacro:property name="file" value="roboticstoolbox/tools/xacro/tests/include1.xml"/>
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<xacro:include filename="${file}" /></a>''' # noqa
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self.assert_matches(self.quick_xacro(doc), '''<a><inc1/></a>''')
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@@ -600,8 +600,8 @@ def test_include_with_namespace(self):
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src = '''
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<a xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:property name="var" value="main"/>
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<xacro:include filename="roboticstoolbox/backends/xacro/tests/include1.xacro" ns="A"/>
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<xacro:include filename="roboticstoolbox/backends/xacro/tests/include2.xacro" ns="B"/>
603+
<xacro:include filename="roboticstoolbox/tools/xacro/tests/include1.xacro" ns="A"/>
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<xacro:include filename="roboticstoolbox/tools/xacro/tests/include2.xacro" ns="B"/>
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<xacro:A.foo/><xacro:B.foo/>
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<main var="${var}" A="${2*A.var}" B="${B.var+1}"/>
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</a>'''

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

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