always pull before merging main

Author: beverlylytle

AUTHORS.md

@@ -27,4 +27,5 @@
 - Nik Eftekhar Olivo <<[email protected]>> [@nikeftekhar](https://github.com/nikeftekhar)
 - Beverly Lytle <<[email protected]>> [@beverlylytle](https://github.com/beverlylytle>)
 - Juney Lee <<[email protected]>> [@juney-lee](https://github.com/juney-lee)
-- Xingxin He <<[email protected]>> [@XingxinHE](https://github.com/XingxinHE)
+- Xingxin He <<[email protected]>> [@XingxinHE](https://github.com/XingxinHE)
+- Robin Godwyll <<[email protected]>> [@robin-gdwl](https://github.com/robin-gdwl)

CHANGELOG.md

@@ -5,11 +5,13 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+
 ## Unreleased
 
 ### Added
 
 * Added `RobotModel.remove_link`, `RobotModel.remove_joint`, `RobotModel.to_urdf_string`, and `RobotModel.ensure_geometry`.
+* Added Blender Python-example to the documentation section: Tutorials -> Robots
 * Added `compas_blender.unload_modules`.
 
 ### Changed
@@ -23,6 +25,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Fixed bug regarding a repeated call to `RobotModel.add_joint`.
 * Fixed bug in `compas_blender.RobotModelArtist.update`.
 * Fixed bug in `compas.datastructures.mesh_slice_plane`.
+* Fixed bug where initialising a `compas_blender.artists.Robotmodelartist` would create a new collection for each mesh and then also not put the mesh iton the created collection. 
+* Changed the initialisation of `compas_blender.artists.Robotmodelartist` to include a `collection`-parameter instead of a `layer`-parameter to be more consistent with Blender's nomenclature. 
+* Used a utility function from `compas_blender.utilities` to create the collection if none exists instead of using a new call to a bpy-method. 
 
 ### Removed
 

docs/tutorial/robots.rst

@@ -148,8 +148,29 @@ Visualizing Robots
 Before jumping into how to build a robot model, let's first see how to visualize
 one. This can be done with Blender, Rhino or Grasshopper using one of COMPAS's
 artists.  The basic procedure is the same in
-any of the CAD software (aside from the import statement), so for simplicity we
-will demonstrate the use of :class:`compas_rhino.artists.RobotModelArtist` in Rhino.
+any of the CAD software (aside from the import statement). Below you can find an example code for both Rhino and Blender. 
+
+
+.. raw:: html
+
+    <div class="card">
+        <div class="card-header">
+            <ul class="nav nav-tabs card-header-tabs">
+                <li class="nav-item">
+                    <a class="nav-link active" data-toggle="tab" href="#visualise_robot_rhino">Rhino</a>
+                </li>
+                <li class="nav-item">
+                    <a class="nav-link" data-toggle="tab" href="#visualise_robot_blender">Blender</a>
+                </li>
+            </ul>
+        </div>
+        <div class="card-body">
+            <div class="tab-content">
+
+.. raw:: html
+
+    <div class="tab-pane active" id="visualise_robot_rhino">
+
 Be sure to first install COMPAS for Rhino.  While the following code is incomplete,
 it can be used as a scaffolding for code to be run in a Python script editor within Rhino.
 
@@ -167,8 +188,42 @@ it can be used as a scaffolding for code to be run in a Python script editor wit
     artist.clear_layer()
     artist.draw_visual()
 
+.. raw:: html
+
+    </div>
+    <div class="tab-pane" id="visualise_robot_blender">
+
+.. code-block:: python
+
+    import compas
+    from compas.robots import RobotModel
+    import compas_blender
+    from compas_blender.artists import RobotModelArtist
+
+    compas_blender.clear()  # Delete all objects in the Blender scene
+
+    model = RobotModel('Robby')
+
+    # Add some geometry to Robby here
+    
+    # Load the robot geometry into the blender scene
+    artist = RobotModelArtist(model, collection='COMPAS::Example Robot')
+
+Note that the blender ``RobotModelArtist`` is not as developed as the one for Rhino.
+
+.. raw:: html
+
+    </div>
+
+.. raw:: html
+
+    </div>
+    </div>
+    </div>
+
+
 
-See below for a complete example.
+See below for a complete example of how to programmatically create a Robotmodel.
 
 
 Building robots models

src/compas_blender/artists/robotmodelartist.py

@@ -18,7 +18,8 @@ class RobotModelArtist(BaseRobotModelArtist):
         Robot model.
     """
 
-    def __init__(self, model):
+    def __init__(self, model, collection=None):
+        self.collection = collection
         super(RobotModelArtist, self).__init__(model)
 
     def transform(self, native_mesh, transformation):
@@ -36,8 +37,11 @@ def create_geoemetry(self, geometry, name=None, color=None):
         else:
             color = (1., 1., 1.)
 
+        if self.collection and self.collection not in bpy.data.collections.keys():
+            compas_blender.utilities.create_collection(self.collection)
+
         v, f = geometry.to_vertices_and_faces()
-        native_mesh = compas_blender.draw_mesh(vertices=v, faces=f, name=name, color=color, centroid=False)
+        native_mesh = compas_blender.draw_mesh(vertices=v, faces=f, name=name, color=color, centroid=False, collection=self.collection)
         native_mesh.hide_set(True)
         return native_mesh
 

src/compas_blender/utilities/drawing.py

@@ -46,6 +46,7 @@ def _link_objects(objects, collection=None, layer=None):
     # if not layer:
     #     layer = bpy.context.view_layer
     # layer_collection = layer.active_layer_collection.collection
+
     for o in objects:
         for c in o.users_collection:
             c.objects.unlink(o)