WIP Migration to RobotCell

CHANGELOG.md

@@ -40,7 +40,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Changed GH Component `ConstraintsFromTargetConfiguration` to `ConfigurationTarget`.
 
 ### Removed
-
+* Removed `attached_collision_meshes` attribute from `JointTrajectory` class.
+* Removed `Robot.merge_group_with_full_configuration` as it can be covered by `Configuration.merged`.
+* Removed function `Robot.get_group_names_from_link_name` as it is too oddly specific.
+* Removed `Robot.get_position_by_joint_name` as Configuration class can now be directly accessed by joint name.
 * 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.

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

@@ -1,10 +1,10 @@
 from compas_robots.resources import GithubPackageMeshLoader
-from compas_fab.robots import RobotLibrary
+from compas_fab.robots import RobotCellLibrary
 
 # Load robot from RobotLibrary
 # RobotLibrary also contains .ur5(), .ur10e(), abb_irb120_3_58(), abb_irb4600_40_255(), .rfl(), .panda()
-robot = RobotLibrary.ur5()
-model = robot.model
+robot_cell, robot_cell_state = RobotCellLibrary.ur5()
+robot_model = robot_cell.robot_model
+robot_semantics = robot_cell.robot_semantics
 
-# Also load geometry
-print(model)
+print(robot_model)

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

@@ -1,6 +1,6 @@
 from compas_fab.backends import RosClient
 
 with RosClient() as ros:
-    robot = ros.load_robot(load_geometry=True, precision=12)
+    robot_cell = ros.load_robot_cell(load_geometry=True, precision=12)
 
-    print(robot.model)
+    print(robot_cell.robot_model)

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

@@ -5,6 +5,6 @@
 with RosClient() as ros:
     # Load complete model from ROS and set a local cache location
     local_directory = os.path.join(os.path.expanduser("~"), "robot_description", "robot_name")
-    robot = ros.load_robot(load_geometry=True, local_cache_directory=local_directory, precision=12)
+    robot_cell = ros.load_robot_cell(load_geometry=True, local_cache_directory=local_directory, precision=12)
 
-    print(robot.model)
+    robot_cell.print_info()

docs/examples/02_description_models/files/03_robot_rhino_from_ros.py

@@ -3,9 +3,9 @@
 
 with RosClient() as ros:
     # Load complete model from ROS
-    robot = ros.load_robot(load_geometry=True, precision=12)
+    robot_cell = ros.load_robot_cell(load_geometry=True, precision=12)
 
     # Visualize robot
     scene = Scene()
-    scene_object = scene.add(robot.model)
+    scene_object = scene.add(robot_cell)
     scene.draw()

docs/examples/02_description_models/files/05_robot_model_chains.py

@@ -1,12 +1,12 @@
 # This example file demonstrates how to print the chain of links and joints in a robot model.
 
-from compas_fab.robots import RobotLibrary
+from compas_fab.robots import RobotCellLibrary
 from compas_robots.model import Joint
 
 # RobotLibrary also contains .ur5(), .ur10e(), abb_irb120_3_58(), abb_irb4600_40_255(), .rfl(), .panda()
-robot = RobotLibrary.panda(load_geometry=False)
+robot_cell, robot_cell_state = RobotCellLibrary.panda(load_geometry=False)
 
-model = robot.model
+model = robot_cell.robot_model
 print("Robot Model Chain:")
 
 # ----------------------------------------------
@@ -38,12 +38,12 @@ def print_joint(joint, level=1):
 
 def print_planning_group_chain(group):
     print("Planning Group: {}".format(group))
-    base_link = robot.get_base_link_name(group)
+    base_link = robot_cell.get_base_link_name(group)
     print("Base Link: {}".format(base_link))
-    tip_link = robot.get_end_effector_link_name(group)
+    tip_link = robot_cell.get_end_effector_link_name(group)
     print("Tip Link: {}".format(tip_link))
     print("--------------------")
-    group_object = robot.semantics.groups[group]
+    group_object = robot_cell.robot_semantics.groups[group]
     joints_in_group = group_object["joints"]
     links_in_group = group_object["links"]
 
@@ -84,5 +84,5 @@ def print_joint(joint, level=1):
     print("")
 
 
-for group in robot.semantics.groups:
+for group in robot_cell.robot_semantics.groups:
     print_planning_group_chain(group)

docs/examples/02_description_models/files/05_robot_viewer.py

@@ -1,5 +1,5 @@
 # This example does not work with IronPython
-from compas_fab.robots import RobotLibrary
+from compas_fab.robots import RobotCellLibrary
 from compas_robots.viewer.scene.robotmodelobject import RobotModelObject
 from compas_robots.model import Joint
 from compas_viewer.components import Slider
@@ -12,8 +12,8 @@
 
 # Load robot from RobotLibrary
 # RobotLibrary also contains .ur5(), .ur10e(), abb_irb120_3_58(), abb_irb4600_40_255(), .rfl(), .panda()
-robot = RobotLibrary.ur5()
-model = robot.model
+robot_cell, robot_cell_state = RobotCellLibrary.ur5()
+model = robot_cell.robot_model
 
 start_configuration = model.zero_configuration()
 robot_object: RobotModelObject = viewer.scene.add(model, show_lines=False, configuration=start_configuration)  # type: ignore
@@ -30,7 +30,7 @@ def rotate(slider: Slider, value: float):
 
 
 # Create one slider for each joint
-for joint in robot.get_configurable_joints():
+for joint in robot_cell.get_configurable_joints():
     starting_val = start_configuration[joint.name]
     print(joint.name, Joint.SUPPORTED_TYPES[joint.type], joint.limit.lower, joint.limit.upper, starting_val)
     # Units are in radians or meters

docs/examples/03_backends_ros/files/01_robot_cell_with_kinematic_tools.py

@@ -7,23 +7,21 @@
 from compas_fab.robots import ToolLibrary
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     planner = MoveItPlanner(client)
 
     # =========
     # Example 1
     # =========
 
-    # Create a robot cell using the robot from the client
-    robot_cell = RobotCell(robot)
     # Add a kinematic gripper tool to the robot cell
     gripper = ToolLibrary.kinematic_gripper()
     robot_cell.tool_models[gripper.name] = gripper
     # Attach the gripper to the robot
     robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
     robot_cell_state.set_tool_attached_to_group(
         gripper.name,
-        robot.main_group_name,
+        robot_cell.main_group_name,
         attachment_frame=Frame([0.0, 0.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]),
         touch_links=["wrist_3_link"],  # This is the link that the tool is attached to
     )

docs/examples/03_backends_ros/files/01_ros_robot_cell_with_tools.py

@@ -11,15 +11,14 @@
 from compas_fab.robots import RigidBody
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     planner = MoveItPlanner(client)
 
     # =========
     # Example 1
     # =========
 
     # Create a robot cell with the robot from the client
-    robot_cell = RobotCell(robot)
     # Add a floor as rigid body to the robot cell, this will be static.
     floor_mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
     robot_cell.rigid_body_models["floor"] = RigidBody.from_mesh(floor_mesh)
@@ -34,7 +33,7 @@
     # In order to see the tool attached it is necessary to update the robot_cell_state
     robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
     # Modify the tool state to attach the cone to the robot
-    robot_cell_state.tool_states["cone"].attached_to_group = robot.main_group_name
+    robot_cell_state.tool_states["cone"].attached_to_group = robot_cell.main_group_name
     robot_cell_state.tool_states["cone"].attachment_frame = Frame([0.0, 0.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0])
     # Specify the link of the robot that the tool is allowed to collide with
     robot_cell_state.tool_states["cone"].touch_links = ["wrist_3_link"]
@@ -54,7 +53,7 @@
     # Demonstrate that it is possible to have multiple tools in the robot cell
 
     # Create a robot cell with the robot from the client
-    robot_cell = RobotCell(robot)
+    robot_cell = client.load_robot_cell()
     # Add a two tools (gripper and cone) to the robot cell
     gripper = ToolLibrary.static_gripper_small()
     robot_cell.tool_models[gripper.name] = gripper
@@ -65,14 +64,14 @@
     # It will also ensure that only one tool is attached to the specified group by removing others
     robot_cell_state.set_tool_attached_to_group(
         gripper.name,
-        robot.main_group_name,
+        robot_cell.main_group_name,
         attachment_frame=Frame([0.0, 0.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]),
         touch_links=["wrist_3_link"],
     )
     # Specify the location of the detached cone tool
     robot_cell_state.tool_states[cone_tool.name].frame = Frame([1.0, 1.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0])
     # Move the robot to a different configuration
-    robot_cell_state.robot_configuration = robot.zero_configuration()
+    robot_cell_state.robot_configuration = robot_cell.zero_configuration()
     robot_cell_state.robot_configuration._joint_values[1] = -0.5
     robot_cell_state.robot_configuration._joint_values[2] = 0.5
     result = planner.set_robot_cell(robot_cell, robot_cell_state)

docs/examples/03_backends_ros/files/01_ros_set_robot_cell.py

@@ -7,15 +7,13 @@
 from compas_fab.robots import RigidBody
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     planner = MoveItPlanner(client)
 
     # =========
     # Example 1
     # =========
 
-    # Create a robot cell with a floor geometry
-    robot_cell = RobotCell(robot)
     floor_mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
     robot_cell.rigid_body_models["floor"] = RigidBody.from_mesh(floor_mesh)
 
@@ -30,7 +28,7 @@
     # =========
 
     # Create another robot cell with a cone geometry
-    robot_cell = RobotCell(robot)
+    robot_cell = client.load_robot_cell()
     cone = Mesh.from_stl(compas_fab.get("planning_scene/cone.stl")).scaled(5)
     robot_cell.rigid_body_models["cone"] = RigidBody.from_mesh(cone)
 

docs/examples/03_backends_ros/files/01_ros_test.py

@@ -9,7 +9,7 @@
 from compas_fab.robots import RobotCellState
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     planner = MoveItPlanner(client)
 
     # =========

docs/examples/03_backends_ros/files/02_robot_model.py

@@ -1,7 +1,7 @@
 from compas_fab.backends import RosClient
 
 with RosClient() as client:
-    robot = client.load_robot()
-    robot.info()
+    robot_cell = client.load_robot_cell()
+    robot_cell.print_info()
 
-    assert robot.name == 'ur5_robot'
+    assert robot_cell.robot_model.name == "ur5_robot"

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

@@ -2,8 +2,8 @@
 from compas_fab.backends import RosClient
 
 with RosClient() as client:
-    robot = client.load_robot()
-    print(robot.name)
+    robot_cell = client.load_robot_cell()
+    print(robot_cell.robot_model.name)
     assert robot.name == "ur5_robot"
 
     configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.0])

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

@@ -1,10 +1,10 @@
 from compas_robots import Configuration
-from compas_fab.robots import RobotLibrary
+from compas_fab.robots import RobotCellLibrary
 
-robot = RobotLibrary.ur5()
+robot_cell, robot_cell_state = RobotCellLibrary.ur5()
 configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.0])
 
-frame_WCF = robot.forward_kinematics(configuration)
+frame_WCF = robot_cell.robot_model.forward_kinematics(configuration)
 
 print("Frame in the world coordinate system")
 print(str(frame_WCF.point))

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

@@ -7,7 +7,7 @@
 from compas_fab.robots import TargetMode
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     assert robot.name == "ur5_robot"
     planner = MoveItPlanner(client)
 

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

@@ -7,7 +7,7 @@
 from compas_fab.robots import TargetMode
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     assert robot.name == "ur5_robot"
     planner = MoveItPlanner(client)
 

docs/examples/03_backends_ros/files/04_plan_cartesian_motion.py

@@ -8,12 +8,11 @@
 from compas_fab.robots import RobotCellState
 
 with RosClient() as client:
-    robot = client.load_robot()
     planner = MoveItPlanner(client)
-    robot_cell = RobotCell(robot)
+    robot_cell = client.load_robot_cell()
     robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
 
-    assert robot.name == "ur5_robot"
+    assert robot_cell.robot_model.name == "ur5_robot"
 
     frames = []
     frames.append(Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0]))

docs/examples/03_backends_ros/files/04_plan_cartesian_motion_with_attached_objects.py

@@ -21,15 +21,13 @@
 target_frames.append(Frame([0.0, -0.4, 0.45], [1, 0, 0], [0, 1, 0]))
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     planner = MoveItPlanner(client)
 
     # =====================================
     # Step 1: Creation of Robot Cell
     # =====================================
 
-    # Create a robot cell using the robot from the client
-    robot_cell = RobotCell(robot)
     # Add a rigid body for the floor
     floor_mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
     robot_cell.rigid_body_models["floor"] = RigidBody.from_mesh(floor_mesh)
@@ -55,7 +53,7 @@
     robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
     robot_cell_state.set_tool_attached_to_group(
         gripper.name,
-        robot.main_group_name,
+        robot_cell.main_group_name,
         attachment_frame=Frame([0.0, 0.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]),
         touch_links=["wrist_3_link"],  # This is the link that the tool is attached to
     )

docs/examples/03_backends_ros/files/04_plan_motion.py

@@ -8,17 +8,17 @@
 from compas_fab.backends import MoveItPlanner
 
 with RosClient() as client:
-    robot = client.load_robot()
+    robot_cell = client.load_robot_cell()
     planner = MoveItPlanner(client)
-    assert robot.name == "ur5_robot"
+    assert robot_cell.robot_model.name == "ur5_robot"
 
     frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1])
     tolerance_position = 0.001
     tolerance_orientation = math.radians(1)
 
-    start_configuration = robot.zero_configuration()
+    start_configuration = robot_cell.zero_configuration()
     start_configuration.joint_values = (-3.530, 3.830, -0.580, -3.330, 4.760, 0.000)
-    group = robot.main_group_name
+    group = robot_cell.main_group_name
 
     # create target from frame
     target = FrameTarget(

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

@@ -11,8 +11,6 @@
            Whether or not to show the robot's collision meshes.
         show_frames: bool
            Whether or not to show the robot's joint frames.
-        show_base_frame: bool
-           Whether or not to show the robot's base frame.
         show_end_effector_frame: bool
             Whether or not to show the robot's end-effector frame.
     Output:
@@ -22,6 +20,7 @@
         base_frame_WCF: The robot's base frame.
         ee_frame_WCF: The robot's end-effector frame.
 """
+
 from __future__ import print_function
 
 if robot and full_configuration:
@@ -40,9 +39,6 @@
         axes = robot.transformed_axes(full_configuration, group)
         frames = robot.transformed_frames(full_configuration, group)
 
-    if show_base_frame:
-        base_frame_WCF = robot.get_base_frame(group, full_configuration)
-
     if show_end_effector_frame:
-        ee_frame_WCF = robot.get_end_effector_frame(group, full_configuration)
+        ee_frame_WCF = robot.model.forward_kinematics(full_configuration)
         print("End-effector", ee_frame_WCF)