reflect change to RTB data file finder
@@ -10,7 +10,7 @@ from roboticstoolbox.tools import URDF, xacro
import numpy as np
import numpy.testing as nt
-from roboticstoolbox.tools.data import path_to_datafile
+from roboticstoolbox.tools.data import rtb_path_to_datafile
class TestURDF(unittest.TestCase):
@@ -18,10 +18,10 @@ class TestURDF(unittest.TestCase):
def test_urdf_visuals(self):
urdf_string = xacro.main(
- path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
+ rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
urdf = URDF.loadstr(
urdf_string,
- path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
+ rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
urdf.links[0].visuals[0].name = "Lonk"
self.assertTrue(urdf.links[0].visuals[0].name == "Lonk")
@@ -78,10 +78,10 @@ class TestURDF(unittest.TestCase):
def test_urdf_collisions(self):
urdf_string = xacro.main(
- path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
+ rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
urdf = URDF.loadstr(
urdf_string,
- path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
+ rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
urdf.links[0].collisions[0].name = "Lonk"
self.assertTrue(urdf.links[0].collisions[0].name == "Lonk")
@@ -99,10 +99,10 @@ class TestURDF(unittest.TestCase):
def test_urdf_dynamics(self):
urdf_string = xacro.main(
- path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
+ rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
urdf = URDF.loadstr(
urdf_string,
- path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
+ rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa
self.assertEqual(urdf.joints[0].limit.effort, 87.0)
self.assertEqual(urdf.joints[0].limit.velocity, 2.175)
