Merge branch 'master' of https://github.com/petercorke/robotics-toolbox-python into micah-dev

micah-huth · micah-huth · commit ae33612afd96 · 2020-08-21T15:11:26.000+10:00
diff --git a/roboticstoolbox/models/Puma560.py b/roboticstoolbox/models/Puma560.py
@@ -79,46 +79,52 @@ def __init__(self):
                           # at the motor)
             Tc=[0.395, -0.435],  # actuator Coulomb friction coefficient for
                                  # direction [-,+] (measured at the motor)
-            qlim=[-160*deg, 160*deg])    # minimum and maximum joint angle
+            qlim=[-160*deg, 160*deg],    # minimum and maximum joint angle
+            mesh='UNIMATE/puma560/link0.stl')
 
         L1 = RevoluteDH(
             d=0, a=0.4318, alpha=0,
             I=[0.13, 0.524, 0.539, 0, 0, 0],
             r=[-0.3638, 0.006, 0.2275],
             m=17.4, Jm=200e-6, G=107.815,
             B=.817e-3, Tc=[0.126, -0.071],
-            qlim=[-45*deg, 225*deg])
+            qlim=[-45*deg, 225*deg],
+            mesh='UNIMATE/puma560/link1.stl')
 
         L2 = RevoluteDH(
             d=0.15005, a=0.0203, alpha=-pi/2,
             I=[0.066, 0.086, 0.0125, 0, 0, 0],
             r=[-0.0203, -0.0141, 0.070],
             m=4.8, Jm=200e-6, G=-53.7063,
             B=1.38e-3, Tc=[0.132, -0.105],
-            qlim=[-225*deg, 45*deg])
+            qlim=[-225*deg, 45*deg],
+            mesh='UNIMATE/puma560/link2.stl')
 
         L3 = RevoluteDH(
             d=0.4318, a=0, alpha=pi/2,
             I=[1.8e-3, 1.3e-3, 1.8e-3, 0, 0, 0],
             r=[0, 0.019, 0],
             m=0.82, Jm=33e-6, G=76.0364,
             B=71.2e-6, Tc=[11.2e-3, -16.9e-3],
-            qlim=[-110*deg, 170*deg])
+            qlim=[-110*deg, 170*deg],
+            mesh='UNIMATE/puma560/link3.stl')
 
         L4 = RevoluteDH(
             d=0, a=0, alpha=-pi/2,
             I=[0.3e-3, 0.4e-3, 0.3e-3, 0, 0, 0],
             r=[0, 0, 0], m=0.34,
             Jm=33e-6, G=71.923, B=82.6e-6,
             Tc=[9.26e-3, -14.5e-3],
-            qlim=[-100*deg, 100*deg])
+            qlim=[-100*deg, 100*deg],
+            mesh='UNIMATE/puma560/link4.stl')
 
         L5 = RevoluteDH(
             d=0, a=0, alpha=0,
             I=[0.15e-3, 0.15e-3, 0.04e-3, 0, 0, 0],
             r=[0, 0, 0.032], m=0.09, Jm=33e-6,
             G=76.686, B=36.7e-6, Tc=[3.96e-3, -10.5e-3],
-            qlim=[-266*deg, 266*deg])
+            qlim=[-266*deg, 266*deg],
+            mesh='UNIMATE/puma560/link5.stl')
 
         L = [L0, L1, L2, L3, L4, L5]
 
@@ -136,6 +142,7 @@ def __init__(self):
 
         super(Puma560, self).__init__(
             L,
+            toolmesh = "UNIMATE/puma560/link6.stl",
             name="Puma 560",
             manufacturer="Unimation")
 
diff --git a/roboticstoolbox/robot/Link.py b/roboticstoolbox/robot/Link.py
@@ -3,6 +3,7 @@
 Python implementation by Samuel Drew
 """
 
+from pathlib import PurePath
 from numpy import *
 from spatialmath.pose3d import *
 import argparse
@@ -147,12 +148,17 @@ def __init__(self, units='rad', **kwargs):
         self.B = 0
         self.Tc = [0, 0]
 
+        # Meshes
+        self.mesh = None
+
         # for every passed argument, check if its a valid attribute and then set it
         for name, value in kwargs.items():
 
             # convert angular parameters to radians if required
             if name in ['alpha', 'theta'] and units == 'deg':
                 value *= pi / 180
+            if name == 'mesh':
+                    value = PurePath(__file__).parent.parent / 'models' / 'meshes' / value
 
             if name in self.__dict__:
                 setattr(self, name, value)
diff --git a/roboticstoolbox/robot/serial_link.py b/roboticstoolbox/robot/serial_link.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python
 
+from pathlib import PurePath
 import numpy as np
 from roboticstoolbox.robot.Link import *
 from spatialmath.pose3d import *
@@ -10,7 +11,7 @@
 
 class SerialLink:
 
-    def __init__(self, links, name=None, base=None, tool=None, stl_files=None, q=None, param=None, manufacturer=None, comment=None, meshdir=None, configurations={}):
+    def __init__(self, links, name=None, base=None, tool=None, toolmesh=None, stl_files=None, q=None, param=None, manufacturer=None, comment=None, meshdir=None, configurations={}):
         """
         Creates a SerialLink object.
         :param links: a list of links that will constitute SerialLink object.
@@ -36,6 +37,12 @@ def __init__(self, links, name=None, base=None, tool=None, stl_files=None, q=Non
         else:
             assert (type(tool) is np.ndarray) and (tool.shape == (4, 4))
             self.tool = tool
+
+        if toolmesh:
+            self.toolmesh = PurePath(__file__).parent.parent / 'models' / 'meshes' / toolmesh
+        else:
+            self.toolmesh = None
+
         # Following arguments initialised by plot function and animate functions only
         if stl_files is None:
             # Default stick figure model code goes here
