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‎_modules/roboticstoolbox/robot/DHRobot.html

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@@ -163,6 +163,7 @@ <h1>Source code for roboticstoolbox.robot.DHRobot</h1><div class="highlight"><pr
163163
<span class="sd">&quot;&quot;&quot;</span>
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165165
<span class="kn">from</span> <span class="nn">collections</span> <span class="kn">import</span> <span class="n">namedtuple</span>
166+
<span class="kn">from</span> <span class="nn">roboticstoolbox.tools.data</span> <span class="kn">import</span> <span class="n">path_to_datafile</span>
166167

167168
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
168169
<span class="kn">from</span> <span class="nn">roboticstoolbox.robot.Robot</span> <span class="kn">import</span> <span class="n">Robot</span> <span class="c1"># DHLink</span>
@@ -221,6 +222,7 @@ <h1>Source code for roboticstoolbox.robot.DHRobot</h1><div class="highlight"><pr
221222
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span>
222223
<span class="bp">self</span><span class="p">,</span>
223224
<span class="n">L</span><span class="p">,</span>
225+
<span class="n">meshdir</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
224226
<span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
225227

226228
<span class="c1"># Verify L</span>
@@ -256,6 +258,16 @@ <h1>Source code for roboticstoolbox.robot.DHRobot</h1><div class="highlight"><pr
256258
<span class="k">if</span> <span class="ow">not</span> <span class="nb">all</span><span class="p">([</span><span class="n">link</span><span class="o">.</span><span class="n">mdh</span> <span class="o">==</span> <span class="bp">self</span><span class="o">.</span><span class="n">mdh</span> <span class="k">for</span> <span class="n">link</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">links</span><span class="p">]):</span>
257259
<span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s1">&#39;Robot has mixed D&amp;H link conventions&#39;</span><span class="p">)</span>
258260

261+
<span class="c1"># load meshes if required</span>
262+
<span class="k">if</span> <span class="n">meshdir</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
263+
<span class="bp">self</span><span class="o">.</span><span class="n">meshdir</span> <span class="o">=</span> <span class="n">path_to_datafile</span><span class="p">(</span><span class="n">meshdir</span><span class="p">)</span>
264+
<span class="bp">self</span><span class="o">.</span><span class="n">basemesh</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshdir</span> <span class="o">/</span> <span class="s2">&quot;link0.stl&quot;</span>
265+
<span class="k">for</span> <span class="n">j</span><span class="p">,</span> <span class="n">link</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_links</span><span class="p">,</span> <span class="n">start</span><span class="o">=</span><span class="mi">1</span><span class="p">):</span>
266+
<span class="n">link</span><span class="o">.</span><span class="n">mesh</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshdir</span> <span class="o">/</span> <span class="s2">&quot;link</span><span class="si">{:d}</span><span class="s2">.stl&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">j</span><span class="p">)</span>
267+
<span class="k">else</span><span class="p">:</span>
268+
<span class="bp">self</span><span class="o">.</span><span class="n">basemesh</span> <span class="o">=</span> <span class="kc">None</span>
269+
270+
259271
<span class="c1"># rne parameters</span>
260272
<span class="bp">self</span><span class="o">.</span><span class="n">_rne_ob</span> <span class="o">=</span> <span class="kc">None</span>
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‎_modules/roboticstoolbox/robot/ERobot.html

Lines changed: 4 additions & 2 deletions
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@@ -181,6 +181,8 @@ <h1>Source code for roboticstoolbox.robot.ERobot</h1><div class="highlight"><pre
181181
<span class="kn">from</span> <span class="nn">roboticstoolbox.tools</span> <span class="kn">import</span> <span class="n">URDF</span>
182182
<span class="kn">from</span> <span class="nn">roboticstoolbox.robot.Robot</span> <span class="kn">import</span> <span class="n">Robot</span>
183183
<span class="kn">from</span> <span class="nn">roboticstoolbox.robot.Gripper</span> <span class="kn">import</span> <span class="n">Gripper</span>
184+
<span class="kn">from</span> <span class="nn">roboticstoolbox.tools.data</span> <span class="kn">import</span> <span class="n">path_to_datafile</span>
185+
184186
<span class="kn">from</span> <span class="nn">pathlib</span> <span class="kn">import</span> <span class="n">PurePath</span><span class="p">,</span> <span class="n">PurePosixPath</span>
185187
<span class="kn">from</span> <span class="nn">ansitable</span> <span class="kn">import</span> <span class="n">ANSITable</span><span class="p">,</span> <span class="n">Column</span>
186188
<span class="kn">from</span> <span class="nn">spatialmath</span> <span class="kn">import</span> <span class="n">SpatialAcceleration</span><span class="p">,</span> <span class="n">SpatialVelocity</span><span class="p">,</span> \
@@ -550,10 +552,10 @@ <h1>Source code for roboticstoolbox.robot.ERobot</h1><div class="highlight"><pre
550552
<span class="sd"> &quot;&quot;&quot;</span>
551553

552554
<span class="c1"># get the path to the class that defines the robot</span>
553-
<span class="n">classpath</span> <span class="o">=</span> <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="vm">__module__</span><span class="p">]</span><span class="o">.</span><span class="vm">__file__</span>
555+
<span class="n">base_path</span> <span class="o">=</span> <span class="n">path_to_datafile</span><span class="p">(</span><span class="s1">&#39;xacro&#39;</span><span class="p">)</span>
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<span class="c1"># print(&quot;*** urdf_to_ets_args: &quot;, classpath)</span>
555557
<span class="c1"># add on relative path to get to the URDF or xacro file</span>
556-
<span class="n">base_path</span> <span class="o">=</span> <span class="n">PurePath</span><span class="p">(</span><span class="n">classpath</span><span class="p">)</span><span class="o">.</span><span class="n">parent</span><span class="o">.</span><span class="n">parent</span> <span class="o">/</span> <span class="s1">&#39;URDF&#39;</span> <span class="o">/</span> <span class="s1">&#39;xacro&#39;</span>
558+
<span class="c1"># base_path = PurePath(classpath).parent.parent / &#39;URDF&#39; / &#39;xacro&#39;</span>
557559
<span class="n">file_path</span> <span class="o">=</span> <span class="n">base_path</span> <span class="o">/</span> <span class="n">PurePosixPath</span><span class="p">(</span><span class="n">file_path</span><span class="p">)</span>
558560
<span class="n">name</span><span class="p">,</span> <span class="n">ext</span> <span class="o">=</span> <span class="n">splitext</span><span class="p">(</span><span class="n">file_path</span><span class="p">)</span>
559561

‎_modules/roboticstoolbox/robot/Robot.html

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@@ -210,7 +210,6 @@ <h1>Source code for roboticstoolbox.robot.Robot</h1><div class="highlight"><pre>
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<span class="n">base</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
211211
<span class="n">tool</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
212212
<span class="n">gravity</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
213-
<span class="n">meshdir</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>
214213
<span class="n">keywords</span><span class="o">=</span><span class="p">(),</span>
215214
<span class="n">symbolic</span><span class="o">=</span><span class="kc">False</span><span class="p">):</span>
216215

@@ -220,7 +219,6 @@ <h1>Source code for roboticstoolbox.robot.Robot</h1><div class="highlight"><pre>
220219
<span class="bp">self</span><span class="o">.</span><span class="n">symbolic</span> <span class="o">=</span> <span class="n">symbolic</span>
221220
<span class="bp">self</span><span class="o">.</span><span class="n">base</span> <span class="o">=</span> <span class="n">base</span>
222221
<span class="bp">self</span><span class="o">.</span><span class="n">tool</span> <span class="o">=</span> <span class="n">tool</span>
223-
<span class="bp">self</span><span class="o">.</span><span class="n">basemesh</span> <span class="o">=</span> <span class="kc">None</span>
224222
<span class="bp">self</span><span class="o">.</span><span class="n">_reach</span> <span class="o">=</span> <span class="kc">None</span>
225223

226224
<span class="k">if</span> <span class="n">keywords</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span> <span class="ow">and</span> <span class="ow">not</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">keywords</span><span class="p">,</span> <span class="p">(</span><span class="nb">tuple</span><span class="p">,</span> <span class="nb">list</span><span class="p">)):</span>
@@ -253,14 +251,6 @@ <h1>Source code for roboticstoolbox.robot.Robot</h1><div class="highlight"><pre>
253251

254252
<span class="bp">self</span><span class="o">.</span><span class="n">_dynchanged</span> <span class="o">=</span> <span class="kc">True</span>
255253

256-
<span class="c1"># this probably should go down to DHRobot</span>
257-
<span class="k">if</span> <span class="n">meshdir</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
258-
<span class="n">classpath</span> <span class="o">=</span> <span class="n">sys</span><span class="o">.</span><span class="n">modules</span><span class="p">[</span><span class="bp">self</span><span class="o">.</span><span class="vm">__module__</span><span class="p">]</span><span class="o">.</span><span class="vm">__file__</span>
259-
<span class="bp">self</span><span class="o">.</span><span class="n">meshdir</span> <span class="o">=</span> <span class="n">PurePath</span><span class="p">(</span><span class="n">classpath</span><span class="p">)</span><span class="o">.</span><span class="n">parent</span> <span class="o">/</span> <span class="n">PurePosixPath</span><span class="p">(</span><span class="n">meshdir</span><span class="p">)</span>
260-
<span class="bp">self</span><span class="o">.</span><span class="n">basemesh</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshdir</span> <span class="o">/</span> <span class="s2">&quot;link0.stl&quot;</span>
261-
<span class="k">for</span> <span class="n">j</span><span class="p">,</span> <span class="n">link</span> <span class="ow">in</span> <span class="nb">enumerate</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_links</span><span class="p">,</span> <span class="n">start</span><span class="o">=</span><span class="mi">1</span><span class="p">):</span>
262-
<span class="n">link</span><span class="o">.</span><span class="n">mesh</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">meshdir</span> <span class="o">/</span> <span class="s2">&quot;link</span><span class="si">{:d}</span><span class="s2">.stl&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">j</span><span class="p">)</span>
263-
264254
<span class="c1"># URDF Parser Attempt</span>
265255
<span class="c1"># # Search mesh dir for meshes</span>
266256
<span class="c1"># if urdfdir is not None:</span>

‎arm_dh.html

Lines changed: 7 additions & 7 deletions
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@@ -210,7 +210,7 @@ <h2>DHRobot<a class="headerlink" href="#dhrobot" title="Permalink to this headli
210210
</map><p>The various <a class="reference internal" href="#dh-models"><span class="std std-ref">Models</span></a> all subclass this class.</p>
211211
<dl class="py class">
212212
<dt id="roboticstoolbox.robot.DHRobot.DHRobot">
213-
<em class="property"><span class="pre">class</span> </em><code class="sig-prename descclassname"><span class="pre">roboticstoolbox.robot.DHRobot.</span></code><code class="sig-name descname"><span class="pre">DHRobot</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">L</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/roboticstoolbox/robot/DHRobot.html#DHRobot"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#roboticstoolbox.robot.DHRobot.DHRobot" title="Permalink to this definition"></a></dt>
213+
<em class="property"><span class="pre">class</span> </em><code class="sig-prename descclassname"><span class="pre">roboticstoolbox.robot.DHRobot.</span></code><code class="sig-name descname"><span class="pre">DHRobot</span></code><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">L</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">meshdir</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/roboticstoolbox/robot/DHRobot.html#DHRobot"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#roboticstoolbox.robot.DHRobot.DHRobot" title="Permalink to this definition"></a></dt>
214214
<dd><p>Bases: <a class="reference internal" href="arm_superclass.html#roboticstoolbox.robot.Robot.Robot" title="roboticstoolbox.robot.Robot.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">roboticstoolbox.robot.Robot.Robot</span></code></a></p>
215215
<p>Class for robots defined using Denavit-Hartenberg notation</p>
216216
<dl class="field-list simple">
@@ -1271,12 +1271,12 @@ <h2>DHRobot<a class="headerlink" href="#dhrobot" title="Permalink to this headli
12711271
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
12721272
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
12731273
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
1274-
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
1275-
<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
1276-
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
1277-
<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
1278-
<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
1279-
<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
1274+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
1275+
<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
1276+
<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
1277+
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
1278+
<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
1279+
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
12801280
</pre></div>
12811281
</div>
12821282
<p><strong>Trajectory operation</strong></p>

‎arm_erobot.html

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1095,12 +1095,12 @@ <h2>ERobot<a class="headerlink" href="#erobot" title="Permalink to this headline
10951095
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
10961096
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
10971097
<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
1098-
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
1099-
<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
1100-
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
1101-
<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
1102-
<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
1103-
<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
1098+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
1099+
<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
1100+
<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
1101+
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
1102+
<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
1103+
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
11041104
</pre></div>
11051105
</div>
11061106
<p><strong>Trajectory operation</strong></p>

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