Refactor robot models to use RobotModel with urdf parameter

skrobot/model/robot_model.py

@@ -1833,7 +1833,31 @@ def self_collision_check(self):
 class RobotModel(CascadedLink):
 
     def __init__(self, link_list=None, joint_list=None,
-                 root_link=None):
+                 root_link=None, urdf=None, include_mimic_joints=True):
+        """Initialize a RobotModel instance.
+
+        Parameters
+        ----------
+        link_list : list of Link, optional
+            Initial list of links to register in the model.
+            If None, an empty list is used.
+        joint_list : list of Joint, optional
+            Initial list of joints to register in the model.
+            If None, an empty list is used.
+        root_link : Link, optional
+            Root link of the robot model.
+        urdf : str, optional
+            URDF input used to build the robot model. The value is interpreted
+            automatically: if the input looks like XML content (starts with
+            '<?xml' or '<robot'), it is treated as a string containing URDF
+            XML; otherwise, if ``os.path.isfile`` returns True, it is treated
+            as a file system path to a URDF file; otherwise it is treated as
+            URDF XML string. If None (the default), the model is not
+            initialized from URDF.
+        include_mimic_joints : bool, optional (default: True)
+            Whether to include mimic joints defined in the URDF when loading
+            the model.
+        """
         link_list = link_list or []
         joint_list = joint_list or []
         super(RobotModel, self).__init__(link_list, joint_list)
@@ -1853,6 +1877,43 @@ def __init__(self, link_list=None, joint_list=None,
         self._relevance_predicate_table = \
             self._compute_relevance_predicate_table()
 
+        if urdf is not None:
+            self._load_from_urdf(urdf, include_mimic_joints=include_mimic_joints)
+
+    def _load_from_urdf(self, urdf_input, include_mimic_joints=True):
+        """Load URDF from a string or a file path.
+
+        Automatically detects if the input is a URDF string or a file path.
+        If the input looks like XML content (starts with '<?xml' or '<robot'),
+        it is treated as URDF XML string. Otherwise, if the input is an
+        existing file path, it is loaded as a file.
+
+        Parameters
+        ----------
+        urdf_input : str
+            Either the URDF model description as a string, or the path to a
+            URDF file.
+        include_mimic_joints : bool, optional (default: True)
+            If True, mimic joints are included in the resulting
+            `RobotModel`'s `joint_list`.
+        """
+        # First, check if the input looks like URDF/XML content
+        if isinstance(urdf_input, str):
+            stripped = urdf_input.lstrip()
+            if stripped.startswith('<?xml') or stripped.startswith('<robot'):
+                self.load_urdf(
+                    urdf_input, include_mimic_joints=include_mimic_joints)
+                return
+
+        # If it doesn't look like XML, check if it's a file path
+        if os.path.isfile(urdf_input):
+            with open(urdf_input, 'r') as f:
+                self.load_urdf_file(
+                    file_obj=f, include_mimic_joints=include_mimic_joints)
+        else:
+            self.load_urdf(urdf_input,
+                           include_mimic_joints=include_mimic_joints)
+
     def reset_pose(self):
         raise NotImplementedError()
 
@@ -2133,7 +2194,7 @@ def from_urdf(urdf_input, include_mimic_joints=True):
 
         Parameters
         ----------
-        urdf_string : str
+        urdf_input : str
             Either the URDF model description as a string, or the path to a
             URDF file.
         include_mimic_joints : bool, optional
@@ -2145,21 +2206,8 @@ def from_urdf(urdf_input, include_mimic_joints=True):
         RobotModel
             Robot model loaded from the URDF.
         """
-        robot_model = RobotModel()
-        if os.path.isfile(urdf_input):
-            try:
-                with open(urdf_input, 'r') as f:
-                    robot_model.load_urdf_file(
-                        file_obj=f, include_mimic_joints=include_mimic_joints)
-            except Exception as e:
-                logger.error("Failed to load URDF from file: %s. Error: %s", urdf_input, e)
-                logger.error("Attempting to load as URDF string instead.")
-                robot_model.load_urdf(
-                    urdf_input, include_mimic_joints=include_mimic_joints)
-        else:
-            robot_model.load_urdf(urdf_input,
-                                  include_mimic_joints=include_mimic_joints)
-        return robot_model
+        return RobotModel(urdf=urdf_input,
+                          include_mimic_joints=include_mimic_joints)
 
     def load_urdf(self, urdf, include_mimic_joints=True):
         is_python3 = sys.version_info.major > 2

skrobot/models/fetch.py

@@ -5,27 +5,32 @@
 from skrobot.data import fetch_urdfpath
 from skrobot.model import RobotModel
 
-from .urdf import RobotModelFromURDF
 
-
-class Fetch(RobotModelFromURDF):
+class Fetch(RobotModel):
     """Fetch Robot Model.
 
     http://docs.fetchrobotics.com/robot_hardware.html
     """
 
-    def __init__(self, *args, **kwargs):
-        super(Fetch, self).__init__(*args, **kwargs)
+    def __init__(self, urdf=None, urdf_file=None):
+        # For backward compatibility, support both urdf and urdf_file
+        if urdf is not None and urdf_file is not None:
+            raise ValueError(
+                "'urdf' and 'urdf_file' cannot be given at the same time"
+            )
+        if urdf is not None:
+            urdf_input = urdf
+        elif urdf_file is not None:
+            urdf_input = urdf_file
+        else:
+            urdf_input = fetch_urdfpath()
+        super(Fetch, self).__init__(urdf=urdf_input)
         self.rarm_end_coords = CascadedCoords(parent=self.gripper_link,
                                               name='rarm_end_coords')
         self.rarm_end_coords.translate([0, 0, 0])
         self.rarm_end_coords.rotate(0, axis='z')
         self.end_coords = [self.rarm_end_coords]
 
-    @cached_property
-    def default_urdf_path(self):
-        return fetch_urdfpath()
-
     def reset_pose(self):
         self.torso_lift_joint.joint_angle(0)
         self.shoulder_pan_joint.joint_angle(np.deg2rad(75.6304))

skrobot/models/kuka.py

@@ -5,14 +5,23 @@
 from skrobot.data import kuka_urdfpath
 from skrobot.model import RobotModel
 
-from .urdf import RobotModelFromURDF
 
-
-class Kuka(RobotModelFromURDF):
+class Kuka(RobotModel):
     """Kuka Robot Model."""
 
-    def __init__(self, *args, **kwargs):
-        super(Kuka, self).__init__(*args, **kwargs)
+    def __init__(self, urdf=None, urdf_file=None):
+        # For backward compatibility, support both urdf and urdf_file
+        if urdf is not None and urdf_file is not None:
+            raise ValueError(
+                "'urdf' and 'urdf_file' cannot be given at the same time"
+            )
+        if urdf is not None:
+            urdf_input = urdf
+        elif urdf_file is not None:
+            urdf_input = urdf_file
+        else:
+            urdf_input = kuka_urdfpath()
+        super(Kuka, self).__init__(urdf=urdf_input)
         self.rarm_end_coords = CascadedCoords(
             parent=self.lbr_iiwa_with_wsg50__lbr_iiwa_link_7,
             name='rarm_end_coords')
@@ -22,10 +31,6 @@ def __init__(self, *args, **kwargs):
         self.rarm_end_coords.rotate(- np.pi / 2.0, axis='x')
         self.end_coords = [self.rarm_end_coords]
 
-    @cached_property
-    def default_urdf_path(self):
-        return kuka_urdfpath()
-
     def reset_manip_pose(self):
         return self.angle_vector([0, np.deg2rad(10), 0,
                                   np.deg2rad(-90), 0, np.deg2rad(90),

skrobot/models/nextage.py

@@ -4,10 +4,9 @@
 from ..coordinates import CascadedCoords
 from ..data import nextage_urdfpath
 from ..model import RobotModel
-from .urdf import RobotModelFromURDF
 
 
-class Nextage(RobotModelFromURDF):
+class Nextage(RobotModel):
     """
     - Nextage Open Official Information.
 
@@ -18,8 +17,19 @@ class Nextage(RobotModelFromURDF):
       https://github.com/tork-a/rtmros_nextage/tree/indigo-devel/nextage_description/urdf
     """
 
-    def __init__(self, *args, **kwargs):
-        super(Nextage, self).__init__(*args, **kwargs)
+    def __init__(self, urdf=None, urdf_file=None):
+        # For backward compatibility, support both urdf and urdf_file
+        if urdf is not None and urdf_file is not None:
+            raise ValueError(
+                "'urdf' and 'urdf_file' cannot be given at the same time"
+            )
+        if urdf is not None:
+            urdf_input = urdf
+        elif urdf_file is not None:
+            urdf_input = urdf_file
+        else:
+            urdf_input = nextage_urdfpath()
+        super(Nextage, self).__init__(urdf=urdf_input)
 
         # End effector coordinates
         self.rarm_end_coords = CascadedCoords(
@@ -42,10 +52,6 @@ def __init__(self, *args, **kwargs):
 
         self.reset_pose()
 
-    @cached_property
-    def default_urdf_path(self):
-        return nextage_urdfpath()
-
     def reset_pose(self):
         angle_vector = [
             0.0,

skrobot/models/panda.py

@@ -4,18 +4,28 @@
 from ..coordinates import CascadedCoords
 from ..data import panda_urdfpath
 from ..model import RobotModel
-from .urdf import RobotModelFromURDF
 
 
-class Panda(RobotModelFromURDF):
+class Panda(RobotModel):
 
     """Panda Robot Model.
 
     https://frankaemika.github.io/docs/control_parameters.html
     """
 
-    def __init__(self, *args, **kwargs):
-        super(Panda, self).__init__(*args, **kwargs)
+    def __init__(self, urdf=None, urdf_file=None):
+        # For backward compatibility, support both urdf and urdf_file
+        if urdf is not None and urdf_file is not None:
+            raise ValueError(
+                "'urdf' and 'urdf_file' cannot be given at the same time"
+            )
+        if urdf is not None:
+            urdf_input = urdf
+        elif urdf_file is not None:
+            urdf_input = urdf_file
+        else:
+            urdf_input = panda_urdfpath()
+        super(Panda, self).__init__(urdf=urdf_input)
 
         # End effector coordinate frame
         # Based on franka_ros configuration:
@@ -27,10 +37,6 @@ def __init__(self, *args, **kwargs):
         self.rarm_end_coords.rotate(np.deg2rad(-90), 'y')
         self.reset_pose()
 
-    @cached_property
-    def default_urdf_path(self):
-        return panda_urdfpath()
-
     def reset_pose(self):
         angle_vector = [
             0.03942226991057396,

skrobot/models/pr2.py

@@ -5,17 +5,26 @@
 from skrobot.data import pr2_urdfpath
 from skrobot.model import RobotModel
 
-from .urdf import RobotModelFromURDF
 
-
-class PR2(RobotModelFromURDF):
+class PR2(RobotModel):
 
     """PR2 Robot Model.
 
     """
 
-    def __init__(self, use_tight_joint_limit=True):
-        super(PR2, self).__init__()
+    def __init__(self, urdf=None, urdf_file=None, use_tight_joint_limit=True):
+        # For backward compatibility, support both urdf and urdf_file
+        if urdf is not None and urdf_file is not None:
+            raise ValueError(
+                "'urdf' and 'urdf_file' cannot be given at the same time"
+            )
+        if urdf is not None:
+            urdf_input = urdf
+        elif urdf_file is not None:
+            urdf_input = urdf_file
+        else:
+            urdf_input = pr2_urdfpath()
+        super(PR2, self).__init__(urdf=urdf_input)
 
         self.rarm_end_coords = CascadedCoords(
             parent=self.r_gripper_tool_frame,
@@ -71,10 +80,6 @@ def __init__(self, use_tight_joint_limit=True):
                 j.min_angle = min_angle
                 j.max_angle = max_angle
 
-    @cached_property
-    def default_urdf_path(self):
-        return pr2_urdfpath()
-
     @cached_property
     def rarm(self):
         rarm_links = [

skrobot/models/r8_6.py

@@ -1,19 +1,23 @@
-import os.path as osp
-
 import skrobot
 from skrobot.coordinates import CascadedCoords
 from skrobot.data import r8_6_urdfpath
 
 
 class R8_6(skrobot.model.RobotModel):
 
-    def __init__(self, urdf_path=None, *args, **kwargs):
-        super(R8_6, self).__init__(*args, **kwargs)
-        urdf_path = r8_6_urdfpath() if urdf_path is None else urdf_path
-        if osp.exists(urdf_path):
-            self.load_urdf_file(open(urdf_path, 'r'))
+    def __init__(self, urdf=None, urdf_file=None):
+        # For backward compatibility, support both urdf and urdf_file
+        if urdf is not None and urdf_file is not None:
+            raise ValueError(
+                "'urdf' and 'urdf_file' cannot be given at the same time"
+            )
+        if urdf is not None:
+            urdf_input = urdf
+        elif urdf_file is not None:
+            urdf_input = urdf_file
         else:
-            raise ValueError()
+            urdf_input = r8_6_urdfpath()
+        super(R8_6, self).__init__(urdf=urdf_input)
 
         # Define end effector coordinates for left arm
         self.larm_end_coords = CascadedCoords(