pybullet FK should not accept group

compas-dev · Nov 8, 2024 · ccae36c · ccae36c
1 parent 84cbf3e
commit ccae36c
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Showing 2 changed files with 5 additions and 13 deletions.
diff --git a/docs/examples/05_backends_pybullet/files/02_forward_kinematics.py b/docs/examples/05_backends_pybullet/files/02_forward_kinematics.py
@@ -22,8 +22,8 @@
     # This is a simple robot cell with only the robot
     planner.set_robot_cell(robot_cell)
 
-    configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.0])
-    robot_cell_state.robot_configuration = configuration
+    robot_cell_state.robot_configuration.joint_values = [-2.238, -1.153, -2.174, 0.185, 0.667, 0.0]
+
     # In this demo, the default planning group is used for the forward kinematics
     frame_WCF = planner.forward_kinematics(robot_cell_state, TargetMode.ROBOT)
 
@@ -36,4 +36,4 @@
     # ---------------------------------
     for link_name in robot_cell.get_link_names():
         frame_WCF = planner.forward_kinematics_to_link(robot_cell_state, link_name)
-        print("Frame of link '{}' : {}".format((link_name, frame_WCF)))
+        print("Frame of link '{}' : {}".format(link_name, frame_WCF))
diff --git a/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py b/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py
@@ -105,8 +105,8 @@ def forward_kinematics(self, robot_cell_state, target_mode, group=None, native_s
 
         return target_frame
 
-    def forward_kinematics_to_link(self, robot_cell_state, link_name=None, group=None, native_scale=None, options=None):
-        # type: (RobotCellState, Optional[str], Optional[str], Optional[float], Optional[dict]) -> Frame
+    def forward_kinematics_to_link(self, robot_cell_state, link_name=None, native_scale=None, options=None):
+        # type: (RobotCellState, Optional[str], Optional[float], Optional[dict]) -> Frame
         """Calculate the frame of the specified robot link from the provided RobotCellState.
 
         This function operates similar to :meth:`compas_fab.backends.PyBulletForwardKinematics.forward_kinematics`,
@@ -123,9 +123,6 @@ def forward_kinematics_to_link(self, robot_cell_state, link_name=None, group=Non
         link_name : str, optional
             The name of the link to calculate the forward kinematics for.
             Defaults to the last link of the provided planning group.
-        group : str, optional
-            The planning group of the robot.
-            Defaults to the robot's main planning group.
         native_scale : float, optional
             The scaling factor to apply to the resulting frame.
             It is defined as `user_object_value * native_scale = meter_object_value`.
@@ -139,11 +136,6 @@ def forward_kinematics_to_link(self, robot_cell_state, link_name=None, group=Non
         planner = self  # type: PyBulletPlanner
         client = planner.client  # type: PyBulletClient
         robot_cell = client.robot_cell  # type: RobotCell
-        group = group or robot_cell.main_group_name
-
-        # Check if the planning group is supported by the planner
-        if group not in robot_cell.group_names:
-            raise PlanningGroupNotExistsError("Planning group '{}' is not supported by PyBullet planner.".format(group))
 
         # Setting the entire robot cell state, including the robot configuration
         planner.set_robot_cell_state(robot_cell_state)