RobotCell.default_cell_state()

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

@@ -2,8 +2,6 @@
 
 from compas_fab.backends import MoveItPlanner
 from compas_fab.backends import RosClient
-from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import ToolLibrary
 
 with RosClient() as client:
@@ -18,7 +16,7 @@
     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 = robot_cell.default_cell_state()
     robot_cell_state.set_tool_attached_to_group(
         gripper.name,
         robot_cell.main_group_name,

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

@@ -5,8 +5,6 @@
 import compas_fab
 from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
-from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import ToolLibrary
 from compas_fab.robots import RigidBody
 
@@ -31,7 +29,7 @@
     input("Press Enter to continue...")
 
     # 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)
+    robot_cell_state = robot_cell.default_cell_state()
     # Modify the tool state to attach the cone to the robot
     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])
@@ -59,7 +57,7 @@
     robot_cell.tool_models[gripper.name] = gripper
     robot_cell.tool_models[cone_tool.name] = cone_tool
     # Attach the gripper to the robot
-    robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+    robot_cell_state = robot_cell.default_cell_state()
     # The following function `set_tool_attached_to_group` is an alternative way than that in example 1
     # 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(

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

@@ -1,5 +1,3 @@
-from compas_robots import Configuration
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import TargetMode
 from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
@@ -9,7 +7,7 @@
     assert robot_cell.robot_model.name == "ur5_robot"
     planner = MoveItPlanner(client)
 
-    robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+    robot_cell_state = robot_cell.default_cell_state()
     robot_cell_state.robot_configuration.joint_values = [-2.238, -1.153, -2.174, 0.185, 0.667, 0.0]
 
     # When using the forward_kinematics() method with TargetMode.ROBOT, the last link of the robot's main group is used.

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

@@ -3,7 +3,6 @@
 from compas_fab.backends import MoveItPlanner
 
 from compas_fab.robots import FrameTarget
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import TargetMode
 
 with RosClient() as client:
@@ -12,7 +11,7 @@
     planner = MoveItPlanner(client)
 
     # Create a default RobotCellState from the RobotCell as the starting state
-    start_state = RobotCellState.from_robot_cell(robot_cell)
+    start_state = robot_cell.default_cell_state()
 
     # Create a target frame with the ROBOT mode
     frame_WCF = Frame([0.3, 0.1, 0.5], [0, -1, 0], [0, 0, -1])

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

@@ -3,7 +3,6 @@
 from compas_fab.backends import MoveItPlanner
 
 from compas_fab.robots import FrameTarget
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import TargetMode
 
 with RosClient() as client:
@@ -14,7 +13,7 @@
     frame_WCF = Frame([0.3, 0.1, 0.5], [0, -1, 0], [0, 0, -1])
     target = FrameTarget(frame_WCF, TargetMode.ROBOT)
 
-    start_state = RobotCellState.from_robot_cell(robot_cell)
+    start_state = robot_cell.default_cell_state()
 
     result_count = 0
     for config in planner.iter_inverse_kinematics(target, start_state, options=dict(max_results=10)):

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

@@ -4,13 +4,11 @@
 from compas_fab.backends import MoveItPlanner
 from compas_fab.robots import FrameWaypoints
 from compas_fab.robots import TargetMode
-from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
 
 with RosClient() as client:
     planner = MoveItPlanner(client)
     robot_cell = client.load_robot_cell()
-    robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+    robot_cell_state = robot_cell.default_cell_state()
 
     assert robot_cell.robot_model.name == "ur5_robot"
 

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

@@ -6,10 +6,8 @@
 from math import pi
 from compas_fab.backends import RosClient
 from compas_fab.backends import MoveItPlanner
-from compas_fab.robots import RobotCell
 from compas_fab.robots import RigidBody
 from compas_fab.robots import ToolLibrary
-from compas_fab.robots import RobotCellState
 from compas_fab.robots import FrameWaypoints
 from compas_fab.robots import TargetMode
 from compas_fab.robots import FrameTarget
@@ -51,7 +49,7 @@
     # =====================================
 
     # Attach the gripper to the robot
-    robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+    robot_cell_state = robot_cell.default_cell_state()
     robot_cell_state.set_tool_attached_to_group(
         gripper.name,
         robot_cell.main_group_name,

docs/examples/06_backends_kinematics/files/02_inverse_kinematics.py

@@ -7,9 +7,6 @@
 from compas_fab.backends import AnalyticalKinematicsPlanner
 from compas_fab.backends.kinematics.solvers import UR5Kinematics
 
-from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
-
 # Not loading the robot's geometry because AnalyticalKinematicsPlanner does not use it for collision checking
 robot_cell, robot_cell_state = RobotCellLibrary.ur5(load_geometry=False)
 
@@ -24,7 +21,7 @@
 target = FrameTarget(frame_WCF, TargetMode.ROBOT)
 
 # The start state is not important here because there is no tools involved
-start_state = RobotCellState.from_robot_cell(robot_cell)
+start_state = robot_cell.default_cell_state()
 
 # iter_inverse_kinematics() will return a generator that would yield possible IK solutions
 print("\nResults of iter_inverse_kinematics():")

src/compas_fab/backends/ros/client.py

@@ -27,7 +27,6 @@
 from compas_fab.backends.tasks import CancellableFutureResult
 from compas_fab.robots import RobotSemantics
 from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
 
 from compas import IPY
 
@@ -217,7 +216,7 @@ def load_robot_cell(
             model.load_geometry(loader, precision=precision)
 
         self._robot_cell = RobotCell(robot_model=model, robot_semantics=semantics)
-        self._robot_cell_state = RobotCellState.from_robot_cell(self._robot_cell)
+        self._robot_cell_state = self._robot_cell.default_cell_state()
 
         return self._robot_cell
 

src/compas_fab/robots/robot_cell.py

@@ -809,13 +809,13 @@ def fill_configuration_with_joint_names(self, configuration, group=None):
     def default_cell_state(self):
         """Create a default robot cell state for the robot cell.
 
+        Equivalent to :meth:`RobotCellState.from_robot_cell` with the robot cell as input.
+
         The robot's base frame will be assumed to be at worldXY frame.
         All tools will be assumed to be in their zero configuration and positioned at worldXY frame.
         All workpieces will be assumed to be in their base frame and not attached to any tool or link.
         All tools and workpieces are assumed to be visible in the scene (is_hidden=False).
 
-        Equivalent to :meth:`RobotCellState.from_robot_cell` with the robot cell as input.
-
         Returns
         -------
         :class:`~compas_fab.robots.RobotCellState`

src/compas_fab/robots/robot_library.py

@@ -13,7 +13,6 @@
 import compas_fab
 from compas_fab.robots import RigidBody
 from compas_fab.robots import RobotCell
-from compas_fab.robots import RobotCellState
 
 if not IPY:
     from typing import TYPE_CHECKING
@@ -22,7 +21,7 @@
         from typing import Optional  # noqa: F401
         from typing import Tuple  # noqa: F401
 
-        from compas_fab.backends.interfaces import ClientInterface  # noqa: F401
+        from compas_fab.robots import RobotCellState  # noqa: F401
 
 
 __all__ = [
@@ -367,7 +366,7 @@ def rfl(cls, load_geometry=True):
             srdf_filename=compas_fab.get("robot_library/rfl/robot_description_semantic.srdf"),
             local_package_mesh_folder="robot_library/rfl" if load_geometry else None,
         )
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         return robot_cell, robot_cell_state
 
@@ -398,7 +397,7 @@ def ur5(cls, load_geometry=True):
             srdf_filename=compas_fab.get("robot_library/ur5_robot/robot_description_semantic.srdf"),
             local_package_mesh_folder="robot_library/ur5_robot" if load_geometry else None,
         )
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # Remove the planning group called 'endeffector' because it only has one link and no joints.
         del robot_cell.robot_semantics.groups["endeffector"]
@@ -429,7 +428,7 @@ def ur10e(cls, load_geometry=True):
             srdf_filename=compas_fab.get("robot_library/ur10e_robot/robot_description_semantic.srdf"),
             local_package_mesh_folder="robot_library/ur10e_robot" if load_geometry else None,
         )
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # Remove the planning group called 'endeffector' because it only has one link and no joints.
         del robot_cell.robot_semantics.groups["endeffector"]
@@ -460,7 +459,7 @@ def abb_irb4600_40_255(cls, load_geometry=True):
             srdf_filename=compas_fab.get("robot_library/abb_irb4600_40_255/robot_description_semantic.srdf"),
             local_package_mesh_folder="robot_library/abb_irb4600_40_255" if load_geometry else None,
         )
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         return robot_cell, robot_cell_state
 
@@ -488,7 +487,7 @@ def abb_irb120_3_58(cls, load_geometry=True):
             srdf_filename=compas_fab.get("robot_library/abb_irb120_3_58/robot_description_semantic.srdf"),
             local_package_mesh_folder="robot_library/abb_irb120_3_58" if load_geometry else None,
         )
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         return robot_cell, robot_cell_state
 
@@ -527,7 +526,7 @@ def panda(cls, load_geometry=True):
                 robot_model.remove_link(link.name)
                 robot_model.remove_joint(link.parent_joint.name)
 
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # Remove the planning group called 'panda_hand' because it it not a "serial chain",
         # the bifurcation of the chain into two fingers is not supported by planning backends.
@@ -586,7 +585,7 @@ def ur5_cone_tool(cls, load_geometry=True):
         # ------------------------------------------------------------------------
         # Re-Create RobotCellState after modifying the RobotCell
         # ------------------------------------------------------------------------
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # Attach the tool to the robot's main group
         touch_links = ["wrist_3_link"]
@@ -660,7 +659,7 @@ def ur5_gripper_one_beam(cls, load_geometry=True):
         # ------------------------------------------------------------------------
         # Re-Create RobotCellState after modifying the RobotCell
         # ------------------------------------------------------------------------
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # ------------------------------------------------------------------------
         # Tool Attachment
@@ -755,7 +754,7 @@ def abb_irb4600_40_255_gripper_one_beam(cls, load_geometry=True):
         # ------------------------------------------------------------------------
         # Re-Create RobotCellState after modifying the RobotCell
         # ------------------------------------------------------------------------
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # Attach the tool to the robot's main group
         attachment_frame = Frame([0.0, 0.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0])
@@ -822,7 +821,7 @@ def ur10e_gripper_one_beam(cls, load_geometry=True):
         # ------------------------------------------------------------------------
         # Re-Create RobotCellState after modifying the RobotCell
         # ------------------------------------------------------------------------
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # ------------------------------------------------------------------------
         # Tool Attachment
@@ -908,7 +907,7 @@ def abb_irb4600_40_255_printing_tool(cls, load_geometry=True):
         # ------------------------------------------------------------------------
         # Re-Create RobotCellState after modifying the RobotCell
         # ------------------------------------------------------------------------
-        robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
+        robot_cell_state = robot_cell.default_cell_state()
 
         # ------------------------------------------------------------------------
         # Tool Attachment

tests/backends/kinematics/test_analytical_kinematics_planner.py

@@ -44,7 +44,7 @@ def test_forward_kinematics(ur5_planner_robot_only):
     planner = ur5_planner_robot_only  # type: AnalyticalKinematicsPlanner
 
     # Initial state of the robot cell is the home position
-    start_state = RobotCellState.from_robot_cell(planner.robot_cell)
+    start_state = planner.robot_cell.default_cell_state()
     frame = planner.forward_kinematics(start_state, TargetMode.ROBOT, group=None)
 
     correct = Frame(
@@ -64,7 +64,7 @@ def test_iter_inverse_kinematics(ur5_planner_robot_only):
     )
 
     # The `iter_inverse_kinematics` method will return an iterator that yields all possible solutions
-    start_state = RobotCellState.from_robot_cell(planner.robot_cell)
+    start_state = planner.robot_cell.default_cell_state()
     solutions = list(planner.iter_inverse_kinematics(target, start_state, group=None))
     assert len(solutions) == 8
     configuration = solutions[0]
@@ -77,7 +77,7 @@ def test_inverse_kinematics(ur5_planner_robot_only):
     target = FrameTarget(
         Frame((0.381, 0.093, 0.382), (0.371, -0.292, -0.882), (0.113, 0.956, -0.269)), TargetMode.ROBOT
     )
-    start_state = RobotCellState.from_robot_cell(planner.robot_cell)
+    start_state = planner.robot_cell.default_cell_state()
 
     # Test to confirm inverse_kinematics() return one solution at a time
     solutions = []  # type: list[Configuration]