fix(models): make KinovaGen3 load via robot_descriptions, add XACRO_ARGS support#546
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…RGS support
KinovaGen3.py pointed at "kortex_description/robots/gen3.xacro" in the
bundled rtb-data tree, which doesn't exist there (no kortex_description
folder at all) — always raised FileNotFoundError.
robot_descriptions does have a working gen3_description entry, but its
xacro file requires a substitution argument (XACRO_ARGS = {"dof": "7"})
to select the 6dof/7dof arm variant; without it xacro fails on an
unresolved property reference. _load_urdf_from_RD only ever read
URDF_PATH/XACRO_PATH and silently ignored XACRO_ARGS — a gap that likely
affects other RD models exposing the same attribute (several UR/xArm/FR3
variants), even though this is the first one this toolbox actually hits.
Thread XACRO_ARGS through as XacroDoc's subargs, and switch KinovaGen3 to
the bare "gen3" RD lookup instead of the missing bundled path.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
This was referenced Jul 5, 2026
…ro-args # Conflicts: # src/roboticstoolbox/models/URDF/URDFRobot.py
Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #546 +/- ##
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Coverage 0.00% 0.00%
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Files 137 137
Lines 13690 13449 -241
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+ Misses 13690 13449 -241 ☔ View full report in Codecov by Harness. 🚀 New features to boost your workflow:
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petercorke
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Jul 5, 2026
Valkyrie, Fetch, and KinovaGen3 are now fixed on main; FetchCamera is removed entirely (so its entry would be a harmless no-op, but delete it for hygiene). Only LBR remains genuinely broken.
petercorke
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Jul 5, 2026
…547) * test(models): add smoke test that every DH/URDF/ETS model constructs Existing tests are hand-written per model, so a model exported in __all__ can go completely untested -- Valkyrie, Fetch, KinovaGen3, FetchCamera, and LBR all had zero coverage this way, three of them silently broken with nothing to catch it (see tech-debt.md). Iterates each category's own __all__ directly (rather than scanning module __dict__/inspect.getmembers, which would also pick up re-exported base classes like Robot/URDFRobot) and asserts every listed class constructs with no arguments. Known-currently-broken models are tracked in an explicit EXPECTED_FAILURES set, which fails loudly in *both* directions: a newly-broken model fails the test, and a since-fixed "expected failure" that starts passing also fails the test, forcing its entry to be cleaned up rather than silently going stale. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> * test(models): trim EXPECTED_FAILURES now that #543/#545/#546 are merged Valkyrie, Fetch, and KinovaGen3 are now fixed on main; FetchCamera is removed entirely (so its entry would be a harmless no-op, but delete it for hygiene). Only LBR remains genuinely broken. --------- Co-authored-by: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
KinovaGen3()always raisedFileNotFoundError: it pointed at"kortex_description/robots/gen3.xacro"in the bundledrtb-dataxacro tree, which has nokortex_descriptionfolder at all.robot_descriptionsdoes have a workinggen3_descriptionentry (reporos2_kortex), but its xacro file needs a substitution argument to select the 6dof/7dof arm variant — it exposesXACRO_ARGS = {"dof": "7"}alongsideXACRO_PATH._load_urdf_from_RD()only ever readURDF_PATH/XACRO_PATHand silently droppedXACRO_ARGS, so even switching to RD naively would still fail on an unresolved xacro property.XACRO_ARGStoo (several UR/xArm/FR3/Rizon variants), though gen3 is the first one this toolbox actually hits.XACRO_ARGSthrough asXacroDoc'ssubargs, and switchKinovaGen3.pyto the bare"gen3"RD lookup instead of the missing bundled path.Test plan
rtb.models.URDF.KinovaGen3()constructs and prints correctly (7-DOF arm, matches docstring'sqr/qzexactly)subargs=Nonepassthrough🤖 Generated with Claude Code