8000 fixed r urdf · yobzhuu/robotics-toolbox-python@8fcb457 · GitHub
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jhavljhavl
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fixed r urdf
1 parent 6c533ef commit 8fcb457

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7 files changed

+45
-19
lines changed

7 files changed

+45
-19
lines changed

‎examples/test.py

Lines changed: 23 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,23 @@
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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

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -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__()
@@ -72,11 +72,11 @@ def step(self, dt=50):
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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).
@@ -89,7 +89,7 @@ def step(self, dt=50):
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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

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -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]
1747-
elinks[i].r = link.inertial.origin
1747+
elinks[i].r = link.inertial.origin[:3, 3]
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elinks[i].m = link.inertial.mass
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elinks[i].inertia = link.inertial.inertia
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‎roboticstoolbox/robot/DHDynamics.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1427,7 +1427,7 @@ def _cross(a, b):
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a[0] * b[1] - a[1] * b[0]]
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14291429

1430-
if __name__ == "__main__":
1430+
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

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -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
268-
base_path = PurePath(classpath).parent.parent / 'xacro'
268+
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

Lines changed: 14 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -4,6 +4,7 @@
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from spatialmath.base.argcheck import getvector, \
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isscalar, isvector, ismatrix
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7+
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def _listen_dyn(func):
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@wraps(func)
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def wrap F438 per_listen_dyn(*args):
@@ -12,9 +13,11 @@ def wrapper_listen_dyn(*args):
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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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17-
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),
@@ -49,7 +52,6 @@ def __init__(self,
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self.Tc = Tc
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self.G = G
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52-
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def copy(self):
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"""
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Copy of link object
@@ -278,7 +280,7 @@ def flip(self):
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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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284286
- revolute motion is a positive rotation about the z-axis
@@ -350,12 +352,12 @@ def I(self): # noqa
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:rtype: ndarray(3,3)
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- ``link.I = ...`` checks and sets the link inertia
352354
353-
Link inertia is a symmetric 3x3 matrix describing the inertia with respect
354-
to a frame with its origin at the centre of mass, and with axes parallel to those of
355-
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::
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\begin{bmatrix} I_{xx} & I_{xy} & I_{xz} \\
@@ -435,7 +437,8 @@ def B(self):
435437
:rtype: float
436438
- ``link.B = ...`` checks and sets the motor viscous friction
437439
438-
.. note:: Viscous friction is the same for positive and negative motion.
440+
.. note:: Viscous friction is the same for positive and negative
441+
motion.
439442
"""
440443
return self._B
441444

@@ -455,7 +458,7 @@ def Tc(self):
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Get/set motor Coulomb friction
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457460
- ``link.Tc`` is the motor Coulomb friction
458-
:return: motor Coulomb friction
461+
:return: motor Coulomb friction
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:rtype: ndarray(2)
460463
- ``link.Tc = ...`` checks and sets the motor Coulomb friction. If a
461464
scalar is given the value is set to [T, -T], if a 2-vector it is
@@ -470,7 +473,8 @@ def Tc(self):
470473
\tau_C^+ & \mbox{if $\dot{q} > 0$} \\
471474
\tau_C^- & \mbox{if $\dot{q} < 0$} \end{array} \right.
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.. note:: :math:`\tau_C^+` must be :math:`> 0`, and :math:`\tau_C^-` must be :math:`< 0`.
476+
.. note:: :math:`\tau_C^+` must be :math:`> 0`, and :math:`\tau_C^-`
477+
must be :math:`< 0`.
474478
"""
475479
return self._Tc
476480

@@ -513,4 +517,3 @@ def G(self):
513517
@_listen_dyn
514518
def G(self, G_new):
515519
self._G = G_new
516-

‎tests/test_ELink.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -160,7 +160,7 @@ def test_properties(self):
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l0 = rp.ELink()
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162162
self.assertEqual(l0.m, 0.0)
163-
nt.assert_array_almost_equal(l0.r.A, np.eye(4))
163+
nt.assert_array_almost_equal(l0.r, np.zeros(3))
164164
self.assertEqual(l0.Jm, 0.0)
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166166
def test_fail_parent(self):

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