Remove Tool Class

compas-dev · Oct 17, 2024 · 3b7d121 · 3b7d121
1 parent be6a678
commit 3b7d121
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Showing 4 changed files with 2 additions and 239 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -41,6 +41,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Removed
 
+* Removed `Tool` class from `compas_fab.robots` module.
+* Removed Backend Feature `AddCollisionMesh`, `AppendCollisionMesh`, `AddAttachedCollisionMesh`, `RemoveCollisionMesh` and `RemoveAttachedCollisionMesh`.
 * Removed `inverse_kinematics`, `forward_kinematics`, `plan_cartesian_motion`, and `plan_motion` methods from ClientInterface, access them using the planner instead.
 * Removed `inverse_kinematics`, `plan_cartesian_motion`, and `plan_motion` methods from Robot, access them using the planner instead.
 * Removed `Robot.ensure_client` method. Client and planner now exist independently.

diff --git a/docs/examples/03_backends_ros/files/05_attach_ee.py b/docs/examples/03_backends_ros/files/05_attach_ee.py
diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
@@ -617,17 +617,6 @@ def get_configurable_joint_types(self, group=None):
         configurable_joints = self.get_configurable_joints(group)
         return [j.type for j in configurable_joints]
 
-    def get_attached_tool_collision_meshes(self):
-        # type: () -> List[List[AttachedCollisionMesh]]
-        """Returns a list of all attached collisions meshes of each of the attached tools, if any.
-
-        Returns
-        -------
-        A list of lists.
-        List[List[compas_fab.robots.planning_scene.CollisionMesh]]
-        """
-        return [tool.attached_collision_meshes for tool in self.attached_tools.values()]
-
     # ==========================================================================
     # configurations
     # ==========================================================================

diff --git a/src/compas_fab/robots/tool.py b/src/compas_fab/robots/tool.py