fix up remaining data path call sites

Author: petercorke

roboticstoolbox/tools/urdf/tests/test_urdf.py

@@ -10,16 +10,18 @@
 import numpy as np
 import numpy.testing as nt
 
+from roboticstoolbox.tools.data import path_to_datafile
+
 
 class TestURDF(unittest.TestCase):
 
     def test_urdf_visuals(self):
 
         urdf_string = xacro.main(
-            "roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")  # noqa
+            path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro"))  # noqa
         urdf = URDF.loadstr(
             urdf_string,
-            "roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")  # noqa
+            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")
@@ -76,10 +78,10 @@ def test_urdf_load(self):
     def test_urdf_collisions(self):
 
         urdf_string = xacro.main(
-            "roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")  # noqa
+            path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro"))  # noqa
         urdf = URDF.loadstr(
             urdf_string,
-            "roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")  # noqa
+            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")
@@ -97,10 +99,10 @@ def test_urdf_collisions(self):
     def test_urdf_dynamics(self):
 
         urdf_string = xacro.main(
-            "roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")  # noqa
+            path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro"))  # noqa
         urdf = URDF.loadstr(
             urdf_string,
-            "roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")  # noqa
+            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)

roboticstoolbox/tools/urdf/urdf.py

@@ -12,10 +12,10 @@
 import spatialmath as sm
 from io import BytesIO
 from pathlib import Path
+from roboticstoolbox.tools.data import path_to_datafile
 
-from .utils import (parse_origin, configure_origin)
 
-abspath = Path(rtb.__file__).parent / 'models' / 'URDF' / 'xacro'
+from .utils import (parse_origin, configure_origin)
 
 
 class URDFType(object):
@@ -304,11 +304,9 @@ def filename(self, value):
         if value.startswith('package://'):
             value = value.replace('package://', '')
 
-        value = str(abspath / value)
-
-        # print(value)
+        value = path_to_datafile('xacro', value)
 
-        self._filename = value
+        self._filename = str(value)
 
     @property
     def scale(self):