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petercorkepetercorke
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polish URDF doco
systematically add comments, and change URDF path specification
1 parent 1bfad9d commit 6b12278

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17 files changed

+385
-87
lines changed

17 files changed

+385
-87
lines changed

‎roboticstoolbox/models/URDF/Mico.py

Lines changed: 22 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -6,16 +6,32 @@
66
import roboticstoolbox as rp
77

88

9-
class j2n4s300(ERobot):
9+
class Mico(ERobot):
10+
"""
11+
Class that imports a Mico URDF model
1012
11-
def __init__(self):
13+
``Panda()`` is a class which imports a Kinova Mico robot definition
14+
from a URDF file. The model describes its kinematic and graphical
15+
characteristics.
16+
17+
.. runblock:: pycon
18+
19+
>>> import roboticstoolbox as rtb
20+
>>> robot = rtb.models.URDF.Mico()
21+
>>> print(robot)
1222
13-
mpath = Path(rp.__file__).parent
14-
fpath = mpath / 'models' / 'xacro' / 'kinova_description' / 'urdf'
15-
fname = 'j2n4s300_standalone.xacro'
23+
Defined joint configurations are:
24+
25+
- qz, zero joint angle configuration, 'L' shaped configuration
26+
- qr, vertical 'READY' configuration
27+
28+
.. codeauthor:: Jesse Haviland
29+
.. sectionauthor:: Peter Corke
30+
"""
31+
def __init__(self):
1632

1733
args = super().urdf_to_ets_args(
18-
(fpath / fname).as_posix())
34+
"kinova_description/urdf/j2n4s300_standalone.xacro")
1935

2036
super().__init__(
2137
args[0],

‎roboticstoolbox/models/URDF/PR2.py

Lines changed: 3 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -9,13 +9,9 @@ class PR2(ERobot):
99

1010
def __init__(self):
1111

12-
mpath = Path(rp.__file__).parent
13-
fpath = mpath / 'models' / 'xacro' / 'pr2_description' / 'robots'
14-
fname = 'pr2.urdf.xacro'
15-
tld = mpath / 'models' / 'xacro' / 'pr2_description'
16-
17-
args = super(PR2, self).urdf_to_ets_args(
18-
(fpath / fname).as_posix(), tld)
12+
args = super().urdf_to_ets_args(
13+
"pr2_description/robots/pr2.urdf.xacro",
14+
"pr2_description")
1915

2016
super(PR2, self).__init__(
2117
args[0],

‎roboticstoolbox/models/URDF/Panda.py

Lines changed: 25 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3,19 +3,36 @@
33
import numpy as np
44
import roboticstoolbox as rp
55
from roboticstoolbox.robot.ERobot import ERobot
6-
from pathlib import Path
76

87

98
class Panda(ERobot):
9+
"""
10+
Class that imports a Panda URDF model
1011
11-
def __init__(self):
12+
``Panda()`` is a class which imports a Franka-Emika Panda robot definition
13+
from a URDF file. The model describes its kinematic and graphical
14+
characteristics.
15+
16+
.. runblock:: pycon
17+
18+
>>> import roboticstoolbox as rtb
19+
>>> robot = rtb.models.URDF.Panda()
20+
>>> print(robot)
1221
13-
mpath = Path(rp.__file__).parent
14-
fpath = mpath / 'models' / 'xacro' / 'franka_description' / 'robots'
15-
fname = 'panda_arm_hand.urdf.xacro'
22+
Defined joint configurations are:
23+
24+
- qz, zero joint angle configuration, 'L' shaped configuration
25+
- qr, vertical 'READY' configuration
26+
- qs, arm is stretched out in the x-direction
27+
- qn, arm is at a nominal non-singular configuration
28+
29+
.. codeauthor:: Jesse Haviland
30+
.. sectionauthor:: Peter Corke
31+
"""
32+
def __init__(self):
1633

17-
args = super(Panda, self).urdf_to_ets_args(
18-
(fpath / fname).as_posix())
34+
args = super().urdf_to_ets_args(
35+
"franka_description/robots/panda_arm_hand.urdf.xacro")
1936

2037
super().__init__(
2138
args[0],
@@ -36,4 +53,4 @@ def __init__(self):
3653
if __name__ == '__main__': # pragma nocover
3754

3855
robot = Panda()
39-
print(robot)
56+
print(robot.links)

‎roboticstoolbox/models/URDF/Puma560.py

Lines changed: 25 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -8,16 +8,34 @@
88

99

1010
class Puma560(ERobot):
11+
"""
12+
Class that imports a Puma 560 URDF model
1113
12-
def __init__(self):
14+
``Puma560()`` is a class which imports a Unimation Puma560 robot definition
15+
from a URDF file. The model describes its kinematic and graphical
16+
characteristics.
17+
18+
.. runblock:: pycon
19+
20+
>>> import roboticstoolbox as rtb
21+
>>> robot = rtb.models.URDF.Puma560()
22+
>>> print(robot)
23+
24+
Defined joint configurations are:
1325
14-
mpath = Path(rp.__file__).parent
15-
fpath = mpath / 'models' / 'xacro' / \
16-
'puma560_description' / 'urdf'
17-
fname = 'puma560_robot.urdf.xacro'
26+
- qz, zero joint angle configuration, 'L' shaped configuration
27+
- qr, vertical 'READY' configuration
28+
- qs, arm is stretched out in the x-direction
29+
- qn, arm is at a nominal non-singular configuration
30+
31+
.. codeauthor:: Jesse Haviland
32+
.. sectionauthor:: Peter Corke
33+
"""
34+
35+
def __init__(self):
1836

19-
args = super(Puma560, self).urdf_to_ets_args(
20-
(fpath / fname).as_posix())
37+
args = super().urdf_to_ets_args(
38+
"puma560_description/urdf/puma560_robot.urdf.xacro")
2139

2240
super().__init__(
2341
args[0],

‎roboticstoolbox/models/URDF/UR10.py

Lines changed: 24 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -7,14 +7,33 @@
77

88

99
class UR10(ERobot):
10+
"""
11+
Class that imports a UR10 URDF model
1012
11-
def __init__(self):
13+
``UR3()`` is a class which imports a Universal Robotics UR310 robot
14+
definition from a URDF file. The model describes its kinematic and
15+
graphical characteristics.
16+
17+
.. runblock:: pycon
18+
19+
>>> import roboticstoolbox as rtb
20+
>>> robot = rtb.models.URDF.UR10()
21+
>>> print(robot)
22+
23+
Defined joint configurations are:
1224
13-
mpath = Path(rp.__file__).parent
14-
fpath = mpath / 'models' / 'xacro' / 'ur_description' / 'urdf'
15-
fname = 'ur10_joint_limited_robot.urdf.xacro'
25+
- qz, zero joint angle configuration, 'L' shaped configuration
26+
- qr, vertical 'READY' configuration
27+
28+
.. codeauthor:: Jesse Haviland
29+
.. sectionauthor:: Peter Corke
30+
"""
31+
32+
def __init__(self):
1633

17-
args = super(UR10, self).urdf_to_ets_args((fpath / fname).as_posix())
34+
args = super().urdf_to_ets_args(
35+
"ur_description/urdf/ur10_joint_limited_robot.urdf.xacro"
36+
)
1837

1938
super().__init__(
2039
args[0],

‎roboticstoolbox/models/URDF/UR3.py

Lines changed: 22 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -7,14 +7,31 @@
77

88

99
class UR3(ERobot):
10+
"""
11+
Class that imports a UR3 URDF model
1012
11-
def __init__(self):
13+
``UR3()`` is a class which imports a Universal Robotics UR3 robot definition
14+
from a URDF file. The model describes its kinematic and graphical
15+
characteristics.
16+
17+
.. runblock:: pycon
18+
19+
>>> import roboticstoolbox as rtb
20+
>>> robot = rtb.models.URDF.UR3()
21+
>>> print(robot)
1222
13-
mpath = Path(rp.__file__).parent
14-
fpath = mpath / 'models' / 'xacro' / 'ur_description' / 'urdf'
15-
fname = 'ur3_joint_limited_robot.urdf.xacro'
23+
Defined joint configurations are:
24+
25+
- qz, zero joint angle configuration, 'L' shaped configuration
26+
- qr, vertical 'READY' configuration
27+
28+
.. codeauthor:: Jesse Haviland
29+
.. sectionauthor:: Peter Corke
30+
"""
31+
def __init__(self):
1632

17-
args = self.urdf_to_ets_args((fpath / fname).as_posix())
33+
args = self.urdf_to_ets_args(
34+
"ur_description/urdf/ur3_joint_limited_robot.urdf.xacro")
1835

1936
super().__init__(
2037
args[0],

‎roboticstoolbox/models/URDF/UR5.py

Lines changed: 23 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,14 +7,36 @@
77

88

99
class UR5(ERobot):
10+
"""
11+
Class that imports a UR5 URDF model
12+
13+
``UR3()`` is a class which imports a Universal Robotics UR5 robot definition
14+
from a URDF file. The model describes its kinematic and graphical
15+
characteristics.
16+
17+
.. runblock:: pycon
18+
19+
>>> import roboticstoolbox as rtb
20+
>>> robot = rtb.models.URDF.UR5()
21+
>>> print(robot)
22+
23+
Defined joint configurations are:
24+
25+
- qz, zero joint angle configuration, 'L' shaped configuration
26+
- qr, vertical 'READY' configuration
27+
28+
.. codeauthor:: Jesse Haviland
29+
.. sectionauthor:: Peter Corke
30+
"""
1031

1132
def __init__(self):
1233

1334
mpath = Path(rp.__file__).parent
1435
fpath = mpath / 'models' / 'xacro' / 'ur_description' / 'urdf'
1536
fname = 'ur5_joint_limited_robot.urdf.xacro'
1637

17-
args = super().urdf_to_ets_args((fpath / fname).as_posix())
38+
args = super().urdf_to_ets_args(
39+
"ur_description/urdf/ur5_joint_limited_robot.urdf.xacro")
1840

1941
super().__init__(
2042
args[0],

‎roboticstoolbox/models/URDF/px100.py

Lines changed: 25 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -7,15 +7,34 @@
77

88

99
class px100(ERobot):
10+
"""
11+
Class that imports a PX100 URDF model
1012
11-
def __init__(self):
13+
``px100()`` is a class which imports an Interbotix px100 robot definition
14+
from a URDF file. The model describes its kinematic and graphical
15+
characteristics.
16+
17+
.. runblock:: pycon
18+
19+
>>> import roboticstoolbox as rtb
20+
>>> robot = rtb.models.URDF.px100()
21+
>>> print(robot)
1222
13-
mpath = Path(rp.__file__).parent
14-
fpath = mpath / 'models' / 'xacro' / 'interbotix_descriptions' / 'urdf'
15-
fname = 'px100.urdf.xacro'
23+
Defined joint configurations are:
24+
25+
- qz, zero joint angle configuration, 'L' shaped configuration
26+
- qr, vertical 'READY' configuration
27+
28+
:reference:
29+
- http://www.support.interbotix.com/html/specifications/px100.html
30+
31+
.. codeauthor:: Jesse Haviland
32+
.. sectionauthor:: Peter Corke
33+
"""
34+
def __init__(self):
1635

1736
args = super().urdf_to_ets_args(
18-
(fpath / fname).as_posix())
37+
"interbotix_descriptions/urdf/px100.urdf.xacro")
1938

2039
super().__init__(
2140
args[0],
@@ -32,4 +51,4 @@ def __init__(self):
3251
if __name__ == '__main__': # pragma nocover
3352

3453
robot = px100()
35-
print(robot)
54+
print(robot.links[0].mesh)

‎roboticstoolbox/models/URDF/px150.py

Lines changed: 24 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -7,15 +7,34 @@
77

88

99
class px150(ERobot):
10+
"""
11+
Class that imports a PX150 URDF model
1012
11-
def __init__(self):
13+
``px150()`` is a class which imports an Interbotix px150 robot definition
14+
from a URDF file. The model describes its kinematic and graphical
15+
characteristics.
16+
17+
.. runblock:: pycon
18+
19+
>>> import roboticstoolbox as rtb
20+
>>> robot = rtb.models.URDF.px150()
21+
>>> print(robot)
22+
23+
Defined joint configurations are:
1224
13-
mpath = Path(rp.__file__).parent
14-
fpath = mpath / 'models' / 'xacro' / 'interbotix_descriptions' / 'urdf'
15-
fname = 'px150.urdf.xacro'
25+
- qz, zero joint angle configuration, 'L' shaped configuration
26+
- qr, vertical 'READY' configuration
27+
28+
:reference:
29+
- http://www.support.interbotix.com/html/specifications/px150.html
30+
31+
.. codeauthor:: Jesse Haviland
32+
.. sectionauthor:: Peter Corke
33+
"""
34+
def __init__(self):
1635

1736
args = super().urdf_to_ets_args(
18-
(fpath / fname).as_posix())
37+
"interbotix_descriptions/urdf/px150.urdf.xacro")
1938

2039
super().__init__(
2140
args[0],

‎roboticstoolbox/models/URDF/rx150.py

Lines changed: 24 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -7,15 +7,34 @@
77

88

99
class rx150(ERobot):
10+
"""
11+
Class that imports a RX150 URDF model
1012
11-
def __init__(self):
13+
``rx150()`` is a class which imports an Interbotix rx150 robot definition
14+
from a URDF file. The model describes its kinematic and graphical
15+
characteristics.
16+
17+
.. runblock:: pycon
18+
19+
>>> import roboticstoolbox as rtb
20+
>>> robot = rtb.models.URDF.rx150()
21+
>>> print(robot)
22+
23+
Defined joint configurations are:
1224
13-
mpath = Path(rp.__file__).parent
14-
fpath = mpath / 'models' / 'xacro' / 'interbotix_descriptions' / 'urdf'
15-
fname = 'rx150.urdf.xacro'
25+
- qz, zero joint angle configuration, 'L' shaped configuration
26+
- qr, vertical 'READY' configuration
27+
28+
:reference:
29+
- http://www.support.interbotix.com/html/specifications/rx150.html
30+
31+
.. codeauthor:: Jesse Haviland
32+
.. sectionauthor:: Peter Corke
33+
"""
34+
def __init__(self):
1635

1736
args = super().urdf_to_ets_args(
18-
(fpath / fname).as_posix())
37+
"interbotix_descriptions/urdf/rx150.urdf.xacro")
1938

2039
super().__init__(
2140
args[0],

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