erobot tune up

Author: jhavl

roboticstoolbox/backend/__init__.py

@@ -2,7 +2,7 @@
 from roboticstoolbox.backend.urdf import *
 
 # try:
-#from roboticstoolbox.backend.Swift import *
+from roboticstoolbox.backend.Swift import *
 # except ImportError:
 #     pass
 

roboticstoolbox/models/URDF/Panda.py

@@ -10,7 +10,7 @@ class Panda(ERobot):
     Class that imports a Panda URDF model
 
     ``Panda()`` is a class which imports a Franka-Emika Panda robot definition
-    from a URDF file.  The model describes its kinematic and graphical 
+    from a URDF file.  The model describes its kinematic and graphical
     characteristics.
 
     .. runblock:: pycon
@@ -37,17 +37,18 @@ def __init__(self):
         super().__init__(
             elinks,
             name=name,
-            manufacturer = 'Franka Emika',
+            manufacturer='Franka Emika',
             ee_links=elinks[8]
-            )
+        )
 
         self.qdlim = np.array([
             2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0])
 
-        # self.addconfiguration("qz", np.array(
-        #     [0, 0, 0, 0, 0, 0, 0, 0, 0]))
-        # self.addconfiguration("qr", np.array(
-        #     [0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0, 0]))
+        self.addconfiguration("qz", np.array(
+            [0, 0, 0, 0, 0, 0, 0, 0, 0]))
+
+        self.addconfiguration("qr", np.array(
+            [0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0, 0]))
 
 
 if __name__ == '__main__':   # pragma nocover

roboticstoolbox/robot/ELink.py

@@ -38,7 +38,7 @@ class ELink(Link):
 
     The ELink object holds all information related to a robot link and can form
     a serial-connected chain or a rigid-body tree.
-    
+
     It inherits from the Link class which provides common functionality such
     as joint and link such as kinematics parameters,
     .
@@ -118,7 +118,7 @@ def __init__(
 
     def __repr__(self):
         name = self.__class__.__name__
-        s = "ets=" + str(self.ets())
+        s = "ets=" + str(self.ets)
         if self.parent is not None:
             s += ", parent=" + str(self.parent.name)
         args = [s] + super()._params()
@@ -136,7 +136,7 @@ def __str__(self):
             parent = ""
         else:
             parent = f" [{self.parent.name}]"
-        return f"name[{self.name}({parent}): {self.ets()}] "
+        return f"name[{self.name}({parent}): {self.ets}] "
 
     @property
     def v(self):
@@ -225,18 +225,12 @@ def geometry(self, geom):
 
         self._geometry = new_geom
 
-
     # @r.setter
     # def r(self, T):
     #     if not isinstance(T, SE3):
     #         T = SE3(T)
     #     self._r = T
 
- 
-
-
-
-
     def A(self, q=None, fast=False):
         """
         Link transform matrix
@@ -278,12 +272,12 @@ def A(self, q=None, fast=False):
             else:
                 return self.Ts
 
+    @property
     def ets(self):
         if self.v is None:
             return self._ets
         else:
-            return self._ets * self.v 
-
+            return self._ets * self.v
 
     def closest_point(self, shape, inf_dist=1.0):
         '''