add inheritance diagrams to robot package

Author: tomvanmele

docs/tutorial.rst

@@ -10,9 +10,6 @@ Tutorial
     tutorial/meshes
     tutorial/volmeshes
     tutorial/robots
-    tutorial/rhino
-    tutorial/grasshopper
-    tutorial/blender
     tutorial/rpc
     tutorial/geomaps
     tutorial/serialization

src/compas/robots/__init__.py

@@ -5,30 +5,15 @@
 
 .. currentmodule:: compas.robots
 
-This package provides basic structures and data exchange mechanisms that are
-building blocks for robotics support.
-
-The primary data representation for robot models is based on the Unified Robot Description Format
-(`URDF`_).
-
-.. note::
-
-    A detailed description of the model is available on the `URDF Model wiki`_.
-    This package parses URDF v1.0 according to the `URDF XSD Schema`_.
-
-    * `URDF`_
-    * `URDF Model wiki`_
-    * `URDF XSD Schema`_
-
-
-.. _URDF: http://wiki.ros.org/urdf
-.. _URDF Model wiki: http://wiki.ros.org/urdf/XML/model
-.. _URDF XSD Schema: https://github.com/ros/urdfdom/blob/master/xsd/urdf.xsd
-
 
 Model
 =====
 
+.. rst-class:: figure
+
+.. inheritance-diagram:: RobotModel Joint Link ToolModel
+    :parts: 1
+
 The root of the model is the :class:`RobotModel` class, which
 describes a robot consisting of a set of link elements, and a set of joint
 elements connecting the links together.
@@ -46,6 +31,11 @@
 Geometric description
 =====================
 
+.. rst-class:: figure
+
+.. inheritance-diagram:: Origin Geometry Box Cylinder Sphere Capsule MeshDescriptor Material Texture Color
+    :parts: 1
+
 The robot itself as well as its links can be geometrically described
 using the following classes.
 
@@ -68,6 +58,11 @@
 Link
 ====
 
+.. rst-class:: figure
+
+.. inheritance-diagram:: Visual Collision Inertial Mass Inertia
+    :parts: 1
+
 The link is described as a rigid body with inertial, visual and collision values.
 
 .. autosummary::
@@ -84,6 +79,11 @@
 Joint
 =====
 
+.. rst-class:: figure
+
+.. inheritance-diagram:: ParentLink ChildLink Calibration Dynamics Limit Axis Mimic SafetyController
+    :parts: 1
+
 The joint describes the kinematics and dynamics of the robot's joint.
 
 .. autosummary::
@@ -103,6 +103,11 @@
 Resources
 =========
 
+.. rst-class:: figure
+
+.. inheritance-diagram:: AbstractMeshLoader DefaultMeshLoader GithubPackageMeshLoader LocalPackageMeshLoader
+    :parts: 1
+
 Model descriptions usually do not contain embedded geometry information but only
 descriptions, filenames or URLs for externally hosted resources.
 For that purpose, this package provides various loader classes that help automate