Merge pull request #407 from compas-dev/robot_library_remove_old_robots

Robot library remove old robots

.github/workflows/integration.yml

@@ -17,7 +17,7 @@ jobs:
       - name: Set up Python 3.8
         uses: actions/setup-python@v2
         with:
-          python-version: 3.8
+          python-version: '3.8'
       - name: Set up docker containers
         run: |
           docker-compose -f "tests/integration_setup/docker-compose.yml" up -d --build

CHANGELOG.md

@@ -55,13 +55,16 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Add `attributes` to `Trajectory` class.
 * Fixed `data` serialization API to comply with `COMPAS 2.0` private data API.
 * Use the tool's `connected_to` link when showing end-effector frames in Grasshopper.
+* Change default end-effector link name from `ee_link` to `tool0`.
 
 ### Removed
 
 * Removed V-Rep backend.
 * Removed outdated `PathPlan` class.
 * Removed outdated rfl demo class.
 * Remove deprecated aliases for artists (currently on `compas_robots`).
+* Removed `compas_fab.robots.ur5` because it is now part of `compas_fab.robots.RobotLibrary`.
+* Removed data files of ur5 and ur10e from `src/compas_fab/data/universal_robots` because they are now in of `src/compas_fab/data/robot_library`.
 
 ## [0.28.0] 2023-05-10
 

docs/examples/02_description_models/files/02_robot_from_disk.py

@@ -4,13 +4,14 @@
 import compas_fab
 
 # Locate the URDF file inside compas fab installation
-urdf = compas_fab.get("universal_robot/ur_description/urdf/ur10e.urdf")
+urdf = compas_fab.get("robot_library/ur10e_robot/urdf/robot_description.urdf")
 
 # Create robot model from URDF
 model = RobotModel.from_urdf_file(urdf)
 
 # Also load geometry
-loader = LocalPackageMeshLoader(compas_fab.get("universal_robot"), "ur_description")
+support_package_name = ""
+loader = LocalPackageMeshLoader(compas_fab.get("robot_library/ur10e_robot"), support_package_name)
 model.load_geometry(loader, precision=12)
 
 print(model)

docs/examples/03_backends_ros/02_robot_models.rst

@@ -21,12 +21,3 @@ request the full model to be loaded from ROS.
 
 .. literalinclude :: files/02_robot_model.py
    :language: python
-
-Load model from URDF
-====================
-
-Alternatively, the URDF model can be loaded from URDF files (stored locally
-or remotely):
-
-.. literalinclude :: files/02_robot_model_urdf.py
-   :language: python

docs/examples/03_backends_ros/files/03_forward_kinematics_urdf.py

@@ -1,12 +1,12 @@
 from compas_robots import Configuration
-from compas_fab.robots.ur5 import Robot
+from compas_fab.robots import RobotLibrary
 
-robot = Robot()
+robot = RobotLibrary.ur5()
 configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.0])
 
 frame_WCF = robot.forward_kinematics(configuration)
 
 print("Frame in the world coordinate system")
-print(frame_WCF)
+print(str(frame_WCF.point))
 
 assert str(frame_WCF.point) == "Point(x=0.300, y=0.100, z=0.500)"

docs/examples/03_backends_ros/files/robot-playground.ghx

@@ -2844,7 +2844,7 @@ if robot:
 from scriptcontext import sticky as st
 
 import compas
-from compas_fab.robots.ur5 import Robot
+from compas_fab.robots import RobotLibrary
 from compas_ghpython.artists import RobotModelArtist
 
 compas.PRECISION = '12f'
@@ -2857,7 +2857,7 @@ if robot_key not in st:
     st[robot_key] = None
 
 if load:
-    robot = Robot(load_geometry=True)
+    robot = RobotLibrary.ur5(load_geometry=True)
     robot.artist = RobotModelArtist(robot.model)
     st[robot_key] = robot
     robot.scale(scale_factor)
@@ -6410,7 +6410,7 @@ Add path constraints</item>
                     <item name="ScrollRatio" type_name="gh_double" type_code="6">0</item>
                     <item name="Source" index="0" type_name="gh_guid" type_code="9">63649309-f44e-4e3b-ad3a-514b976df80d</item>
                     <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
-                    <item name="UserText" type_name="gh_string" type_code="10">ee_link</item>
+                    <item name="UserText" type_name="gh_string" type_code="10">tool0</item>
                   </items>
                   <chunks count="2">
                     <chunk name="Attributes">
@@ -6680,7 +6680,7 @@ Add path constraints</item>
                     <item name="ScrollRatio" type_name="gh_double" type_code="6">0</item>
                     <item name="Source" index="0" type_name="gh_guid" type_code="9">96a2f2f6-5901-4527-abb3-829097bd2417</item>
                     <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
-                    <item name="UserText" type_name="gh_string" type_code="10">ee_link</item>
+                    <item name="UserText" type_name="gh_string" type_code="10">tool0</item>
                     <item name="WireDisplay" type_name="gh_int32" type_code="3">1</item>
                   </items>
                   <chunks count="2">

docs/examples/05_backends_pybullet/files/01_add_attached_collision_mesh.py

@@ -10,13 +10,13 @@
 
 
 with PyBulletClient() as client:
-    urdf_filepath = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf')
-    loader = LocalPackageMeshLoader(compas_fab.get('universal_robot'), 'ur_description')
+    urdf_filepath = compas_fab.get('robot_library/ur5_robot/urdf/robot_description.urdf')
+    loader = LocalPackageMeshLoader(compas_fab.get('robot_library/ur5_robot'), '')
     robot = client.load_robot(urdf_filepath, [loader])
 
     mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
     cm = CollisionMesh(mesh, 'tip')
-    acm = AttachedCollisionMesh(cm, 'ee_link')
+    acm = AttachedCollisionMesh(cm, 'tool0')
     client.add_attached_collision_mesh(acm, {'mass': 0.5, 'robot': robot})
 
     time.sleep(1)

docs/examples/05_backends_pybullet/files/01_add_collision_mesh.py

@@ -6,7 +6,7 @@
 from compas_fab.robots import CollisionMesh
 
 with PyBulletClient() as client:
-    urdf_filepath = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf')
+    urdf_filepath = compas_fab.get('robot_library/ur5_robot/urdf/robot_description.urdf')
     robot = client.load_robot(urdf_filepath)
 
     mesh = Mesh.from_stl(compas_fab.get('planning_scene/floor.stl'))

docs/examples/05_backends_pybullet/files/02_forward_kinematics.py

@@ -3,7 +3,7 @@
 from compas_fab.backends import PyBulletClient
 
 with PyBulletClient() as client:
-    urdf_filename = compas_fab.get("universal_robot/ur_description/urdf/ur5.urdf")
+    urdf_filename = compas_fab.get("robot_library/ur5_robot/urdf/robot_description.urdf")
     robot = client.load_robot(urdf_filename)
 
     configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.0])

docs/examples/05_backends_pybullet/files/02_inverse_kinematics.py

@@ -3,7 +3,7 @@
 from compas_fab.backends import PyBulletClient
 
 with PyBulletClient() as client:
-    urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf')
+    urdf_filename = compas_fab.get('robot_library/ur5_robot/urdf/robot_description.urdf')
     robot = client.load_robot(urdf_filename)
 
     frame_WCF = Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0])

docs/examples/05_backends_pybullet/files/02_iter_inverse_kinematics.py

@@ -3,7 +3,7 @@
 from compas_fab.backends import PyBulletClient
 
 with PyBulletClient(connection_type='direct') as client:
-    urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf')
+    urdf_filename = compas_fab.get('robot_library/ur5_robot/urdf/robot_description.urdf')
     robot = client.load_robot(urdf_filename)
 
     frame_WCF = Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0])

docs/examples/06_backends_kinematics/files/01_iter_ik.py

@@ -1,11 +1,12 @@
 from compas.geometry import Frame
-from compas_fab.robots.ur5 import Robot
+from compas_fab.robots import RobotLibrary
 from compas_fab.backends import AnalyticalInverseKinematics
 
 ik = AnalyticalInverseKinematics()
-robot = Robot()
+robot = RobotLibrary.ur5()
 
 frame_WCF = Frame((0.381, 0.093, 0.382), (0.371, -0.292, -0.882), (0.113, 0.956, -0.269))
 
-for jp, jn in ik.inverse_kinematics(robot, frame_WCF, options={'solver': 'ur5'}):  # knows that we need the IK for the UR5 robot
-    print(jp)
+# The solver must be one of the supported PLANNER_BACKENDS
+for joint_positions, joint_names in ik.inverse_kinematics(robot, frame_WCF, options={'solver': 'ur5'}):
+    print(joint_positions)

src/compas_fab/backends/pybullet/client.py

@@ -18,6 +18,7 @@
 from compas_fab.backends.kinematics import AnalyticalInverseKinematics
 from compas_fab.backends.kinematics import AnalyticalPlanCartesianMotion
 from compas_fab.robots import Robot
+from compas_fab.robots import RobotLibrary
 from compas_fab.robots import RobotSemantics
 from compas_fab.utilities import LazyLoader
 
@@ -193,21 +194,22 @@ def load_ur5(self, load_geometry=False, concavity=False):
         :class:`compas_fab.robots.Robot`
             A robot instance.
         """
-        robot_model = RobotModel.ur5(load_geometry)
-        robot = Robot(robot_model, client=self)
+        robot = RobotLibrary.ur5(client=self, load_geometry=load_geometry)
+        robot.ensure_semantics()
+
         robot.attributes["pybullet"] = {}
         if load_geometry:
             self.cache_robot(robot, concavity)
         else:
             robot.attributes["pybullet"]["cached_robot"] = robot.model
-            robot.attributes["pybullet"]["cached_robot_filepath"] = compas.get("ur_description/urdf/ur5.urdf")
+            robot.attributes["pybullet"]["cached_robot_filepath"] = compas_fab.get(
+                "robot_library/ur5_robot/urdf/robot_description.urdf"
+            )
 
         urdf_fp = robot.attributes["pybullet"]["cached_robot_filepath"]
 
         self._load_robot_to_pybullet(urdf_fp, robot)
-
-        srdf_filename = compas_fab.get("universal_robot/ur5_moveit_config/config/ur5.srdf")
-        self.load_semantics(robot, srdf_filename)
+        self.disabled_collisions = robot.semantics.disabled_collisions
 
         return robot
 

src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py

@@ -51,7 +51,7 @@ def forward_kinematics(self, robot, configuration, group=None, options=None):
               calculate the forward kinematics for. Defaults to the group's end
               effector link.
               Backwards compatibility note: if there's no ``link`` option, the
-              planner will try also ``ee_link`` as fallback before defaulting
+              planner will try also ``tool0`` as fallback before defaulting
               to the end effector's link.
 
         Returns
@@ -69,7 +69,7 @@ def forward_kinematics(self, robot, configuration, group=None, options=None):
         options["base_link"] = options.get("base_link", robot.model.root.name)
 
         # Use selected link or default to group's end effector
-        options["link"] = options.get("link", options.get("ee_link")) or robot.get_end_effector_link_name(group)
+        options["link"] = options.get("link", options.get("tool0")) or robot.get_end_effector_link_name(group)
         if options["link"] not in robot.get_link_names(group):
             raise ValueError("Link name {} does not exist in planning group".format(options["link"]))
 

src/compas_fab/backends/ros/client.py

@@ -123,10 +123,8 @@ class RosClient(Ros, ClientInterface):
 
     Examples
     --------
-
-    >>> from compas_fab.backends import RosClient
     >>> with RosClient() as client:
-    ...     print('Connected: %s' % client.is_connected)
+    ...     print('Connected:', client.is_connected)
     Connected: True
 
     Notes
@@ -185,12 +183,11 @@ def load_robot(
 
         Examples
         --------
-
-        >>> from compas_fab.backends import RosClient
         >>> with RosClient() as client:
         ...     robot = client.load_robot()
         ...     print(robot.name)
         ur5_robot
+
         """
         robot_name = None
 

src/compas_fab/backends/ros/messages/services.py

@@ -89,7 +89,7 @@ def __init__(
         self.header = header or Header()
         self.start_state = start_state or RobotState()  # moveit_msgs/RobotState
         self.group_name = group_name
-        self.link_name = link_name  # ee_link
+        self.link_name = link_name  # End Effector Link Name e.g. tool0, flange, etc.
         self.waypoints = waypoints if waypoints else []  # geometry_msgs/Pose[]
         self.max_step = float(max_step)
         self.jump_threshold = float(jump_threshold)