diff --git a/.github/workflows/integration.yml b/.github/workflows/integration.yml
index a915724c5..decd79ba1 100644
--- a/.github/workflows/integration.yml
+++ b/.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
diff --git a/CHANGELOG.md b/CHANGELOG.md
index a9289497c..01b048549 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -55,6 +55,7 @@ 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
@@ -62,6 +63,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
* Removed outdated `PathPlan` class.
* Removed outdated rfl demo class.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
diff --git a/docs/examples/02_description_models/files/02_robot_from_disk.py b/docs/examples/02_description_models/files/02_robot_from_disk.py
index 94c7aee15..4d13d80c8 100644
--- a/docs/examples/02_description_models/files/02_robot_from_disk.py
+++ b/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)
diff --git a/docs/examples/03_backends_ros/02_robot_models.rst b/docs/examples/03_backends_ros/02_robot_models.rst
index c858e285f..9ac5a7429 100644
--- a/docs/examples/03_backends_ros/02_robot_models.rst
+++ b/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
diff --git a/docs/examples/03_backends_ros/files/02_robot_model_urdf.py b/docs/examples/03_backends_ros/files/02_robot_model_urdf.py
deleted file mode 100644
index 561f1c59c..000000000
--- a/docs/examples/03_backends_ros/files/02_robot_model_urdf.py
+++ /dev/null
@@ -1,12 +0,0 @@
-from compas_robots import RobotModel
-
-from compas_fab.backends import RosClient
-from compas_fab.robots import Robot
-
-with RosClient() as client:
- model = RobotModel.ur5()
- robot = Robot(model, client=client)
-
- robot.info()
-
- assert len(robot.get_configurable_joint_names()) == 6
diff --git a/docs/examples/03_backends_ros/files/03_forward_kinematics_urdf.py b/docs/examples/03_backends_ros/files/03_forward_kinematics_urdf.py
index 09116a570..02d4eb645 100644
--- a/docs/examples/03_backends_ros/files/03_forward_kinematics_urdf.py
+++ b/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)"
diff --git a/docs/examples/03_backends_ros/files/robot-playground.ghx b/docs/examples/03_backends_ros/files/robot-playground.ghx
index f39f9ad1c..b7e46d72d 100644
--- a/docs/examples/03_backends_ros/files/robot-playground.ghx
+++ b/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
- 0
- 63649309-f44e-4e3b-ad3a-514b976df80d
- 1
- - ee_link
+ - tool0
@@ -6680,7 +6680,7 @@ Add path constraints
- 0
- 96a2f2f6-5901-4527-abb3-829097bd2417
- 1
- - ee_link
+ - tool0
- 1
diff --git a/docs/examples/05_backends_pybullet/files/01_add_attached_collision_mesh.py b/docs/examples/05_backends_pybullet/files/01_add_attached_collision_mesh.py
index cf153d5dc..25efeb301 100644
--- a/docs/examples/05_backends_pybullet/files/01_add_attached_collision_mesh.py
+++ b/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)
diff --git a/docs/examples/05_backends_pybullet/files/01_add_collision_mesh.py b/docs/examples/05_backends_pybullet/files/01_add_collision_mesh.py
index 630fdfd1b..6375d24cf 100644
--- a/docs/examples/05_backends_pybullet/files/01_add_collision_mesh.py
+++ b/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'))
diff --git a/docs/examples/05_backends_pybullet/files/02_forward_kinematics.py b/docs/examples/05_backends_pybullet/files/02_forward_kinematics.py
index 6f3218f6b..53521bb65 100644
--- a/docs/examples/05_backends_pybullet/files/02_forward_kinematics.py
+++ b/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])
diff --git a/docs/examples/05_backends_pybullet/files/02_inverse_kinematics.py b/docs/examples/05_backends_pybullet/files/02_inverse_kinematics.py
index b536cbba7..ca2cc15b5 100644
--- a/docs/examples/05_backends_pybullet/files/02_inverse_kinematics.py
+++ b/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])
diff --git a/docs/examples/05_backends_pybullet/files/02_iter_inverse_kinematics.py b/docs/examples/05_backends_pybullet/files/02_iter_inverse_kinematics.py
index be3b48cf7..f28e47125 100644
--- a/docs/examples/05_backends_pybullet/files/02_iter_inverse_kinematics.py
+++ b/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])
diff --git a/docs/examples/06_backends_kinematics/files/01_iter_ik.py b/docs/examples/06_backends_kinematics/files/01_iter_ik.py
index 9d066c7ec..0023b522b 100644
--- a/docs/examples/06_backends_kinematics/files/01_iter_ik.py
+++ b/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)
diff --git a/src/compas_fab/backends/pybullet/client.py b/src/compas_fab/backends/pybullet/client.py
index e3cedc7d1..df374a21c 100644
--- a/src/compas_fab/backends/pybullet/client.py
+++ b/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
diff --git a/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py b/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py
index 9dc746a2f..14b991864 100644
--- a/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py
+++ b/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"]))
diff --git a/src/compas_fab/backends/ros/client.py b/src/compas_fab/backends/ros/client.py
index ce9edbd62..fe98a4305 100644
--- a/src/compas_fab/backends/ros/client.py
+++ b/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
diff --git a/src/compas_fab/backends/ros/messages/services.py b/src/compas_fab/backends/ros/messages/services.py
index 43913a3a0..5130d655d 100644
--- a/src/compas_fab/backends/ros/messages/services.py
+++ b/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)
diff --git a/src/compas_fab/data/universal_robot/ur10e_moveit_config/config/ur10e.srdf b/src/compas_fab/data/universal_robot/ur10e_moveit_config/config/ur10e.srdf
deleted file mode 100644
index 77bccf0d3..000000000
--- a/src/compas_fab/data/universal_robot/ur10e_moveit_config/config/ur10e.srdf
+++ /dev/null
@@ -1,51 +0,0 @@
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diff --git a/src/compas_fab/data/universal_robot/ur5_moveit_config/config/ur5.srdf b/src/compas_fab/data/universal_robot/ur5_moveit_config/config/ur5.srdf
deleted file mode 100644
index 9b13cebea..000000000
--- a/src/compas_fab/data/universal_robot/ur5_moveit_config/config/ur5.srdf
+++ /dev/null
@@ -1,50 +0,0 @@
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