Merge branch 'future' of github.com:petercorke/robotics-toolbox-pytho…

…n into future

roboticstoolbox/models/DH/UR10.py

@@ -39,7 +39,6 @@ class UR10(DHRobot):
  """ # noqa
 
  def __init__(self, symbolic=False):
-
  if symbolic:
  import spatialmath.base.symbolic as sym
 
@@ -59,7 +58,7 @@ def __init__(self, symbolic=False):
 
  alpha = [pi / 2, zero, zero, pi / 2, -pi / 2, zero]
 
- # mass data, no inertia available
+ # mass data
  mass = [7.1, 12.7, 4.27, 2.000, 2.000, 0.365]
  center_of_mass = [
  [0.021, 0, 0.027],
@@ -69,11 +68,38 @@ def __init__(self, symbolic=False):
  [0.0, 0.007, 0.018],
  [0, 0, -0.026],
  ]
+
+ # inertia matrices for each link
+ inertia = [
+ np.array(
+ [[0.0341, 0, -0.0043], [0, 0.0353, 0.0001], [-0.0043, 0.0001, 0.0216]]
+ ),
+ np.array(
+ [[0.0281, 0.0001, -0.0156], [0.0001, 0.7707, 0], [-0.0156, 0, 0.7694]]
+ ),
+ np.array(
+ [[0.0101, 0.0001, 0.0092], [0.0001, 0.3093, 0], [0.0092, 0, 0.3065]]
+ ),
+ np.array(
+ [[0.0030, -0.0000, 0], [-0.0000, 0.0022, -0.0002], [0, -0.0002, 0.0026]]
+ ),
+ np.array(
+ [[0.0030, -0.0000, 0], [-0.0000, 0.0022, -0.0002], [0, -0.0002, 0.0026]]
+ ),
+ np.array([[0, 0, 0], [0, 0.0004, 0], [0, 0, 0.0003]]),
+ ]
+
  links = []
 
  for j in range(6):
  link = RevoluteDH(
- d=d[j], a=a[j], alpha=alpha[j], m=mass[j], r=center_of_mass[j], G=1
+ d=d[j],
+ a=a[j],
+ alpha=alpha[j],
+ m=mass[j],
+ r=center_of_mass[j],
+ G=1,
+ I=inertia[j],
  )
  links.append(link)
 
@@ -93,7 +119,6 @@ def __init__(self, symbolic=False):
 
 
 if __name__ == "__main__": # pragma nocover
-
  ur10 = UR10(symbolic=False)
  print(ur10)
  # print(ur10.dyntable())

roboticstoolbox/tools/urdf/urdf.py

@@ -302,6 +302,8 @@ def filename(self, value):
 
  if value.startswith("package://"):
  value = value.replace("package://", "")
+ elif value.startswith("file://"):
+ value = value.replace("file://", "")
 
  if _base_path is None:
  value = rtb_path_to_datafile("xacro", value)