Merge pull request #882 from compas-dev/all_robot_meshes

adds meshes method to BaseRobotModelArtist

Author: beverlylytle

CHANGELOG.md

@@ -15,6 +15,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Added general plotter for geometry objects and data structures based on the artist registration mechanism.
 * Added support for multimesh files to OBJ reader/writer.
 * Added support for attaching and detaching meshes in `compas.robots.RobotModelArtist` and drawing them.
+* Added `meshes` method to artists of `compas.robots.RobotModel`.
 
 ### Changed
 

src/compas/robots/base_artist/_artist.py

@@ -8,7 +8,7 @@
 from compas.geometry import Scale
 from compas.geometry import Transformation
 from compas.robots import Geometry
-from compas.robots.model.link import Item
+from compas.robots.model.link import LinkItem
 
 
 __all__ = [
@@ -79,7 +79,7 @@ def __init__(self, model):
         self.attached_items = {}
 
     def attach_tool_model(self, tool_model):
-        """Attach a tool to the robot artist.
+        """Attach a tool to the robot artist for visualization.
 
         Parameters
         ----------
@@ -117,7 +117,7 @@ def detach_tool_model(self):
         self.attached_tool_model = None
 
     def attach_mesh(self, mesh, name, link=None, frame=None):
-        """Rigidly attaches a compas mesh to a given link.
+        """Rigidly attaches a compas mesh to a given link for visualization.
 
         Parameters
         ----------
@@ -149,7 +149,7 @@ def attach_mesh(self, mesh, name, link=None, frame=None):
         init_transformation = transformation * sample_geometry.init_transformation
         self.transform(native_mesh, sample_geometry.current_transformation * init_transformation)
 
-        item = Item()
+        item = LinkItem()
         item.native_geometry = [native_mesh]
         item.init_transformation = init_transformation
         item.current_transformation = sample_geometry.current_transformation
@@ -219,6 +219,47 @@ def create(self, link=None, context=None):
         for child_joint in link.joints:
             self.create(child_joint.child_link)
 
+    def meshes(self, link=None, visual=True, collision=False, attached_meshes=True):
+        """Returns all compas meshes of the model.
+
+        Parameters
+        ----------
+        link : :class:`compas.robots.Link`, optional
+            Base link instance. Defaults to the robot model's root.
+        visual : :obj:`bool`, optional
+            Whether to include the robot's visual meshes. Defaults
+            to ``True``.
+        collision : :obj:`bool`, optional
+            Whether to include the robot's collision meshes.  Defaults
+            to ``False``.
+        attached_meshes : :obj:`bool`, optional
+            Whether to include the robot's attached meshes.  Defaults
+            to ``True``.
+
+        Returns
+        -------
+        :obj:`list` of :class:`compas.datastructures.Mesh`
+        """
+        if link is None:
+            link = self.model.root
+
+        meshes = []
+        items = []
+        if visual:
+            items += link.visual
+        if collision:
+            items += link.collision
+        if attached_meshes:
+            items += list(self.attached_items.get(link.name, {}).values())
+        for item in items:
+            new_meshes = Geometry._get_item_meshes(item)
+            for mesh in new_meshes:
+                mesh.transform(item.current_transformation)
+            meshes += new_meshes
+        for child_joint in link.joints:
+            meshes += self.meshes(child_joint.child_link, visual, collision, attached_meshes)
+        return meshes
+
     def scale(self, factor):
         """Scales the robot model's geometry by factor (absolute).
 

src/compas/robots/model/link.py

@@ -168,14 +168,14 @@ def data(self, data):
         self.inertia = Inertia.from_data(data['inertia']) if data['inertia'] else None
 
 
-class Item(object):
+class LinkItem(object):
     def __init__(self):
         self.init_transformation = None  # to store the init transformation
         self.current_transformation = None  # to store the current transformation
         self.native_geometry = None  # to store the link's CAD native geometry
 
 
-class Visual(Item, Data):
+class Visual(LinkItem, Data):
     """Visual description of a link.
 
     Attributes
@@ -268,7 +268,7 @@ def from_primitive(cls, primitive, **kwargs):
         return cls(geometry, origin=origin, **kwargs)
 
 
-class Collision(Item, Data):
+class Collision(LinkItem, Data):
     """Collidable description of a link.
 
     Attributes