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Fixing Missing End Effector Link for UR-X URDF models #167

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Fixing Missing End Effector Link for UR-X URDF models #167

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9 changes: 5 additions & 4 deletions roboticstoolbox/models/URDF/UR10.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,14 +29,15 @@ class UR10(ERobot):

def __init__(self):

args = super().urdf_to_ets_args(
elinks, name = super().urdf_to_ets_args(
"ur_description/urdf/ur10_joint_limited_robot.urdf.xacro"
)

super().__init__(
args[0],
name=args[1],
manufacturer='Universal Robotics'
elinks,
name=name,
manufacturer='Universal Robotics',
gripper_links=elinks[7]
)

self.addconfiguration(
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9 changes: 5 additions & 4 deletions roboticstoolbox/models/URDF/UR3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,13 +28,14 @@ class UR3(ERobot):
"""
def __init__(self):

args = self.urdf_to_ets_args(
elinks, name = self.urdf_to_ets_args(
"ur_description/urdf/ur3_joint_limited_robot.urdf.xacro")

super().__init__(
args[0],
name=args[1],
manufacturer='Universal Robotics'
elinks,
name=name,
manufacturer='Universal Robotics',
gripper_links=elinks[7]
)

self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
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9 changes: 5 additions & 4 deletions roboticstoolbox/models/URDF/UR5.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,13 +29,14 @@ class UR5(ERobot):

def __init__(self):

args = super().urdf_to_ets_args(
elinks, name = super().urdf_to_ets_args(
"ur_description/urdf/ur5_joint_limited_robot.urdf.xacro")

super().__init__(
args[0],
name=args[1],
manufacturer='Universal Robotics'
elinks,
name=name,
manufacturer='Universal Robotics',
gripper_links=elinks[7]
)

self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
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6 changes: 6 additions & 0 deletions tests/test_models.py
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Original file line number Diff line number Diff line change
Expand Up @@ -166,6 +166,12 @@ def test_ikine_a_puma(self):
nt.assert_array_almost_equal(sol0.q, qr0, decimal=4)
nt.assert_array_almost_equal(sol1.q, qr1, decimal=4)

def test_fkine_urdf(self):
for model_name in rp.models.URDF.__all__:
m = getattr(rp.models.URDF, model_name)
r = m()
r.fkine(r.q)

if __name__ == '__main__': # pragma nocover
unittest.main()
# pytest.main(['tests/test_SerialLink.py'])