Use data files from data package

Author: petercorke

roboticstoolbox/robot/DHRobot.py

@@ -4,6 +4,7 @@
 """
 
 from collections import namedtuple
+from roboticstoolbox.tools.data import path_to_datafile
 
 import numpy as np
 from roboticstoolbox.robot.Robot import Robot  # DHLink
@@ -62,6 +63,7 @@ class DHRobot(Robot):
     def __init__(
             self,
             L,
+            meshdir=None,
             **kwargs):
 
         # Verify L
@@ -97,6 +99,16 @@ def __init__(
         if not all([link.mdh == self.mdh for link in self.links]):
             raise ValueError('Robot has mixed D&H link conventions')
 
+        # load meshes if required
+        if meshdir is not None:
+            self.meshdir = path_to_datafile(meshdir)
+            self.basemesh = self.meshdir / "link0.stl"
+            for j, link in enumerate(self._links, start=1):
+                link.mesh = self.meshdir / "link{:d}.stl".format(j)
+        else:
+            self.basemesh = None
+
+
         # rne parameters
         self._rne_ob = None
 

roboticstoolbox/robot/ERobot.py

@@ -22,6 +22,8 @@
 from roboticstoolbox.tools import URDF
 from roboticstoolbox.robot.Robot import Robot
 from roboticstoolbox.robot.Gripper import Gripper
+from roboticstoolbox.tools.data import path_to_datafile
+
 from pathlib import PurePath, PurePosixPath
 from ansitable import ANSITable, Column
 from spatialmath import SpatialAcceleration, SpatialVelocity, \
@@ -391,10 +393,10 @@ def urdf_to_ets_args(self, file_path, tld=None):
         """
 
         # get the path to the class that defines the robot
-        classpath = sys.modules[self.__module__].__file__
+        base_path = path_to_datafile('xacro')
         # print("*** urdf_to_ets_args: ", classpath)
         # add on relative path to get to the URDF or xacro file
-        base_path = PurePath(classpath).parent.parent / 'URDF' / 'xacro'
+        # base_path = PurePath(classpath).parent.parent / 'URDF' / 'xacro'
         file_path = base_path / PurePosixPath(file_path)
         name, ext = splitext(file_path)
 

roboticstoolbox/robot/Robot.py

@@ -51,7 +51,6 @@ def __init__(
             base=None,
             tool=None,
             gravity=None,
-            meshdir=None,
             keywords=(),
             symbolic=False):
 
@@ -61,7 +60,6 @@ def __init__(
         self.symbolic = symbolic
         self.base = base
         self.tool = tool
-        self.basemesh = None
         self._reach = None
 
         if keywords is not None and not isinstance(keywords, (tuple, list)):
@@ -94,14 +92,6 @@ def __init__(
 
         self._dynchanged = True
 
-        # this probably should go down to DHRobot
-        if meshdir is not None:
-            classpath = sys.modules[self.__module__].__file__
-            self.meshdir = PurePath(classpath).parent / PurePosixPath(meshdir)
-            self.basemesh = self.meshdir / "link0.stl"
-            for j, link in enumerate(self._links, start=1):
-                link.mesh = self.meshdir / "link{:d}.stl".format(j)
-
         # URDF Parser Attempt
         # # Search mesh dir for meshes
         # if urdfdir is not None:

roboticstoolbox/tools/data.py

@@ -1,5 +1,8 @@
 from pathlib import Path
 import sys
+import importlib
+
+
 
 def loadmat(filename):
     """
@@ -50,15 +53,15 @@ def loaddata(filename, handler, **kwargs):
     path = path_to_datafile(filename)
     return handler(path, **kwargs)
 
-def path_to_datafile(filename):
+def path_to_datafile(filename, local=False):
     """
     Get absolute path to datafile
 
     :param filename: pathname of datafile
     :type filename: str
     :raises FileNotFoundError: File does not exist
     :return: Absolute path
-    :rtype: str
+    :rtype: Path
 
     If ``filename`` contains no path specification eg. ``map1.mat`` it will
     first attempt to locate the file within the ``roboticstoolbox/data``
@@ -76,26 +79,29 @@ def path_to_datafile(filename):
 
     filename = Path(filename)
 
-    if filename.parent == Path():
-        # just a filename, no path, assume it is in roboticstoolbox/data
+    if local:
+        # check if file is in user's local filesystem
 
-        p = Path(__file__).resolve().parent.parent / 'data' / filename
+        p = filename.expanduser()
+        p = p.resolve()
         if p.exists():
-            return str(p.resolve())
+            return str(p)
 
-    p = filename.expanduser()
-    p = p.resolve()
-    if not p.exists():
-        raise FileNotFoundError(f"File '{p}' does not exist")
-    return str(p)
+    # assume it is in rtbdata
+
+    rtbdata = importlib.import_module("rtbdata")
+    root = Path(rtbdata.__path__[0])
+    
+    path = root / filename
+    if path.exists():
+        return path.resolve()
+    else:
+        raise ValueError(f"file {filename} not found locally or in rtbdata")
 
 if __name__ == "__main__":
 
     a = loadmat("map1.mat")
     print(a)
-    a = loadmat("roboticstoolbox/data/map1.mat")
-    print(a)
-    a = loadmat("roboticstoolbox/data/../data/map1.mat")
-    print(a)
-    a = loadmat("~/code/robotics-toolbox-python/roboticstoolbox/data/map1.mat")
+    a = loadmat("data/map1.mat")
     print(a)
+