moved urdf and xacro

Author: jhavl

roboticstoolbox/backends/__init__.py

@@ -1,5 +1,4 @@
 from roboticstoolbox.backends.PyPlot import *
-from roboticstoolbox.backends.urdf import *
 from roboticstoolbox.backends.Swift import *
 
 try:

roboticstoolbox/robot/ERobot.py

@@ -14,8 +14,8 @@
 # from roboticstoolbox.backends.PyPlot.functions import \
 #     _plot, _teach, _fellipse, _vellipse, _plot_ellipse, \
 #     _plot2, _teach2
-from roboticstoolbox.backends import xacro
-from roboticstoolbox.backends import URDF
+from roboticstoolbox.tools import xacro
+from roboticstoolbox.tools import URDF
 from roboticstoolbox.robot.Robot import Robot
 from roboticstoolbox.robot.Gripper import Gripper
 from pathlib import PurePath, PurePosixPath

roboticstoolbox/robot/Robot.py

@@ -7,8 +7,8 @@
     verifymatrix, getunit
 from roboticstoolbox.robot.Link import Link
 from spatialmath.base.transforms3d import tr2delta
-# from roboticstoolbox.backends import URDF
-# from roboticstoolbox.backends import xacro
+# from roboticstoolbox.tools import urdf
+# from roboticstoolbox.tools import xacro
 from pathlib import PurePath, PurePosixPath
 from scipy.optimize import minimize, Bounds, LinearConstraint
 from roboticstoolbox.tools.null import null

roboticstoolbox/tools/__init__.py

@@ -3,6 +3,7 @@
 from roboticstoolbox.tools.null import null
 from roboticstoolbox.tools.p_servo import p_servo
 from roboticstoolbox.tools.ticker import Ticker
+from roboticstoolbox.tools.urdf import *
 # from roboticstoolbox.tools.stdout_supress import stdout_supress
 
 __all__ = [

roboticstoolbox/backends/urdf/__init__.py roboticstoolbox/tools/urdf/__init__.pyroboticstoolbox/backends/urdf/__init__.py renamed to roboticstoolbox/tools/urdf/__init__.py

@@ -1,4 +1,4 @@
-from roboticstoolbox.backends.urdf.urdf import (
+from roboticstoolbox.tools.urdf.urdf import (
     URDFType,
     Box, Cylinder, Sphere, Mesh, Geometry,
     Collision, Visual, Inertial,

…oolbox/backends/urdf/tests/data/ur5.urdf …cstoolbox/tools/urdf/tests/data/ur5.urdfroboticstoolbox/backends/urdf/tests/data/ur5.urdf renamed to roboticstoolbox/tools/urdf/tests/data/ur5.urdf roboticstoolbox/backends/urdf/tests/data/ur5.urdf renamed to roboticstoolbox/tools/urdf/tests/data/ur5.urdf

@@ -6,7 +6,7 @@
 
 import unittest
 import roboticstoolbox as rp
-from roboticstoolbox.backends import URDF, Link, Joint, Transmission, xacro
+from roboticstoolbox.tools import URDF, Link, Joint, Transmission, xacro
 import numpy as np
 import numpy.testing as nt
 
@@ -43,17 +43,17 @@ def test_urdf_visuals(self):
                 urdf.links[0].visuals[0].origin,
                 np.ndarray))
 
-        urdf.links[0].visuals[0].geometry.box = rp.backends.urdf.Box([1, 2, 3])
+        urdf.links[0].visuals[0].geometry.box = rp.tools.urdf.Box([1, 2, 3])
         self.assertTrue(
             isinstance(
                 urdf.links[0].visuals[0].geometry.geometry,
-                rp.backends.urdf.Box))
+                rp.tools.urdf.Box))
 
         urdf.links[0].visuals[0].geometry.cylinder = \
-            rp.backends.urdf.Cylinder(1, 2)
+            rp.tools.urdf.Cylinder(1, 2)
 
         urdf.links[0].visuals[0].geometry.sphere = \
-            rp.backends.urdf.Sphere(2)
+            rp.tools.urdf.Sphere(2)
 
         nt.assert_array_almost_equal(
             urdf.links[0].visuals[0].geometry.box.size,
@@ -70,7 +70,7 @@ def test_urdf_visuals(self):
         self.assertTrue(
             isinstance(
                 urdf.links[0].visuals[0].geometry.mesh,
-                rp.backends.urdf.Mesh))
+                rp.tools.urdf.Mesh))
 
         try:
             xacro.main("")

…toolbox/backends/urdf/tests/test_urdf.py …icstoolbox/tools/urdf/tests/test_urdf.pyroboticstoolbox/backends/urdf/tests/test_urdf.py renamed to roboticstoolbox/tools/urdf/tests/test_urdf.py roboticstoolbox/backends/urdf/tests/test_urdf.py renamed to roboticstoolbox/tools/urdf/tests/test_urdf.py

@@ -61,6 +61,7 @@
 # The top level directory
 tld = ''
 
+
 def push_file(filename):
     """
     Push a new filename to the filestack.