Removed all cached_robot_model

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

@@ -4,6 +4,8 @@
 from compas_fab.backends import PyBulletPlanner
 from compas_fab.robots import RobotCell
 from compas_fab.robots import RobotCellState
+from compas_fab.robots import RobotLibrary
+
 
 # #############################################
 # Headless (no-GUI) forwards kinematics example
@@ -12,8 +14,7 @@
 # 'direct' mode
 with PyBulletClient("direct") as client:
     # The robot in this example is loaded from a URDF file
-    urdf_filename = compas_fab.get("robot_library/ur5_robot/urdf/robot_description.urdf")
-    robot = client.load_robot(urdf_filename)
+    robot = RobotLibrary.ur5()
 
     # The planner object is needed to call the forward kinematics function
     planner = PyBulletPlanner(client)

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

@@ -4,12 +4,14 @@
 from compas_fab.backends import PyBulletPlanner
 
 from compas_fab.robots import FrameTarget
+from compas_fab.robots import RobotCell
 from compas_fab.robots import RobotCellState
+from compas_fab.robots import RobotLibrary
 
 with PyBulletClient() as client:
-    urdf_filename = compas_fab.get("robot_library/ur5_robot/urdf/robot_description.urdf")
-    robot = client.load_robot(urdf_filename)
+    robot = RobotLibrary.ur5()
     planner = PyBulletPlanner(client)
+    planner.set_robot_cell(RobotCell(robot))
 
     frame_WCF = Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0])
     target = FrameTarget(frame_WCF)

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

@@ -4,12 +4,14 @@
 from compas_fab.backends import PyBulletPlanner
 
 from compas_fab.robots import FrameTarget
+from compas_fab.robots import RobotCell
 from compas_fab.robots import RobotCellState
+from compas_fab.robots import RobotLibrary
 
 with PyBulletClient(connection_type="direct") as client:
-    urdf_filename = compas_fab.get("robot_library/ur5_robot/urdf/robot_description.urdf")
-    robot = client.load_robot(urdf_filename)
+    robot = RobotLibrary.ur5()
     planner = PyBulletPlanner(client)
+    planner.set_robot_cell(RobotCell(robot))
 
     frame_WCF = Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0])
     target = FrameTarget(frame_WCF)

src/compas_fab/backends/interfaces/client.py

@@ -25,9 +25,6 @@ class ClientInterface(object):
     ----------
     robot : :class:`compas_fab.robots.Robot`, read-only
         The robot instance associated with the client.
-        Typically this is set by the backend client after it is initialized, using
-        `client.load_robot()`. It cannot be changed after it is set.
-        Consult the chosen backend client for how to set this attribute.
     """
 
     def __init__(self):

src/compas_fab/backends/pybullet/backend_features/__init__.py

@@ -21,29 +21,15 @@
 from __future__ import absolute_import
 
 
-from compas_fab.backends.pybullet.backend_features.pybullet_add_attached_collision_mesh import (
-    PyBulletAddAttachedCollisionMesh,
-)
-from compas_fab.backends.pybullet.backend_features.pybullet_add_collision_mesh import PyBulletAddCollisionMesh
-from compas_fab.backends.pybullet.backend_features.pybullet_append_collision_mesh import PyBulletAppendCollisionMesh
 from compas_fab.backends.pybullet.backend_features.pybullet_forward_kinematics import PyBulletForwardKinematics
 from compas_fab.backends.pybullet.backend_features.pybullet_inverse_kinematics import PyBulletInverseKinematics
-from compas_fab.backends.pybullet.backend_features.pybullet_remove_attached_collision_mesh import (
-    PyBulletRemoveAttachedCollisionMesh,
-)
-from compas_fab.backends.pybullet.backend_features.pybullet_remove_collision_mesh import PyBulletRemoveCollisionMesh
 from compas_fab.backends.pybullet.backend_features.pybullet_set_robot_cell import PyBulletSetRobotCell
 from compas_fab.backends.pybullet.backend_features.pybullet_set_robot_cell_state import PyBulletSetRobotCellState
 
 
 __all__ = [
-    "PyBulletAddAttachedCollisionMesh",
-    "PyBulletAddCollisionMesh",
-    "PyBulletAppendCollisionMesh",
     "PyBulletForwardKinematics",
     "PyBulletInverseKinematics",
-    "PyBulletRemoveAttachedCollisionMesh",
-    "PyBulletRemoveCollisionMesh",
     "PyBulletSetRobotCell",
     "PyBulletSetRobotCellState",
 ]

src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py

@@ -74,8 +74,6 @@ def forward_kinematics(self, robot_cell_state, group=None, options=None):
         planner = self  # type: PyBulletPlanner
         robot = client.robot
         group = group or robot.main_group_name
-        cached_robot_model = client.get_cached_robot_model(robot)
-        robot_body_id = client.get_uid(cached_robot_model)
 
         # Setting the entire robot cell state, including the robot configuration
         planner.set_robot_cell_state(robot_cell_state)
@@ -89,13 +87,13 @@ def forward_kinematics(self, robot_cell_state, group=None, options=None):
         if link_name:
             if link_name not in robot.get_link_names(group):
                 raise KeyError("Link name provided is not part of the group")
-            link_id = client._get_link_id_by_name(link_name, cached_robot_model)
-            fk_frame = client._get_link_frame(link_id, robot_body_id)
+            link_id = client.robot_link_puids[link_name]
+            fk_frame = client._get_link_frame(link_id, client.robot_puid)
 
         else:
             link_name = robot.get_end_effector_link_name(group)
-            link_id = client._get_link_id_by_name(link_name, cached_robot_model)
-            fk_frame = client._get_link_frame(link_id, robot_body_id)
+            link_id = client.robot_link_puids[link_name]
+            fk_frame = client._get_link_frame(link_id, client.robot_puid)
 
             # If no link name provided, and a tool is attached to the group, return the tool tip frame of the tool
             robot_cell = planner.robot_cell  # type: RobotCell