Merge pull request #274 from compas-dev/config_to_dict

Dictionary-like Configuration

Author: beverlylytle

CHANGELOG.rst

@@ -33,10 +33,13 @@ Unreleased
 * Added serialization methods to ``compas_fab.robots.CollisionMesh`` and ``compas_fab.robots.AttachedCollisionMesh``
 * Added ``attached_collision_meshes`` attribute to ``compas_fab.robots.JointTrajectory``
 * Added ``compas_fab.backends.ros.PlanningSceneComponents.__ne__``
+* Added dictionary behavior to ``compas_fab.robots.JointTrajectoryPoint.merge``
+* Added length limitations to attributes of ``compas_fab.robots.JointTrajectoryPoint.merge``
 
 **Changed**
 
 * Updated to ``COMPAS 1.1``
+* ``Configuration`` & ``JointTrajectoryPoint``: the attributes ``values`` and ``types`` changed to ``joint_values`` and `joint_types` respectively.
 
 **Fixed**
 
@@ -48,6 +51,8 @@ Unreleased
 
 **Removed**
 
+* Remove ``compas_fab.robots.JointTrajectoryPoint.merge``
+
 0.16.0
 ----------
 

src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py

@@ -129,5 +129,5 @@ def inverse_kinematics(self, robot, frame_WCF, start_configuration=None, group=N
         return joint_positions, joint_names
 
     def _get_rest_poses(self, joint_names, configuration):
-        name_value_map = {configuration.joint_names[i]: configuration.values[i] for i in range(len(configuration.joint_names))}
+        name_value_map = {configuration.joint_names[i]: configuration.joint_values[i] for i in range(len(configuration.joint_names))}
         return [name_value_map[name] for name in joint_names]

src/compas_fab/backends/pybullet/client.py

@@ -425,7 +425,7 @@ def check_collisions(self, robot, configuration=None):
         body_id = self.get_uid(cached_robot)
         if configuration:
             joint_ids = self._get_joint_ids_by_name(configuration.joint_names, cached_robot)
-            self._set_joint_positions(joint_ids, configuration.values, body_id)
+            self._set_joint_positions(joint_ids, configuration.joint_values, body_id)
         self.check_collision_with_objects(robot)
         self.check_robot_self_collision(robot)
 
@@ -579,7 +579,7 @@ def set_robot_configuration(self, robot, configuration, group=None):
         default_config = robot.zero_configuration()
         full_configuration = robot.merge_group_with_full_configuration(configuration, default_config, group)
         joint_ids = self._get_joint_ids_by_name(full_configuration.joint_names, cached_robot)
-        self._set_joint_positions(joint_ids, full_configuration.values, body_id)
+        self._set_joint_positions(joint_ids, full_configuration.joint_values, body_id)
         return full_configuration
 
     def get_robot_configuration(self, robot):
@@ -598,7 +598,7 @@ def get_robot_configuration(self, robot):
         default_config = robot.zero_configuration()
         joint_ids = self._get_joint_ids_by_name(default_config.joint_names, cached_robot)
         joint_values = self._get_joint_positions(joint_ids, body_id)
-        default_config.values = joint_values
+        default_config.joint_values = joint_values
         return default_config
 
     # =======================================

src/compas_fab/backends/ros/backend_features/helpers.py

@@ -41,12 +41,12 @@ def convert_constraints_to_rosmsg(constraints, header):
     return ros_constraints
 
 
-def convert_trajectory_points(points, types):
+def convert_trajectory_points(points, joint_types):
     result = []
 
     for pt in points:
-        jtp = JointTrajectoryPoint(values=pt.positions,
-                                   types=types,
+        jtp = JointTrajectoryPoint(joint_values=pt.positions,
+                                   joint_types=joint_types,
                                    velocities=pt.velocities,
                                    accelerations=pt.accelerations,
                                    effort=pt.effort,

src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py

@@ -84,7 +84,7 @@ def forward_kinematics_async(self, callback, errback,
 
         header = Header(frame_id=base_link)
         joint_state = JointState(
-            name=configuration.joint_names, position=configuration.values, header=header)
+            name=configuration.joint_names, position=configuration.joint_values, header=header)
         robot_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
 

src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py

@@ -97,7 +97,7 @@ def inverse_kinematics_async(self, callback, errback,
         pose_stamped = PoseStamped(header, Pose.from_frame(frame_WCF))
 
         joint_state = JointState(
-            name=start_configuration.joint_names, position=start_configuration.values, header=header)
+            name=start_configuration.joint_names, position=start_configuration.joint_values, header=header)
         start_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
 

src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py

@@ -113,7 +113,7 @@ def plan_cartesian_motion_async(self, callback, errback,
         waypoints = [Pose.from_frame(frame) for frame in frames_WCF]
         joint_state = JointState(header=header,
                                  name=start_configuration.joint_names,
-                                 position=start_configuration.values)
+                                 position=start_configuration.joint_values)
         start_state = RobotState(joint_state, MultiDOFJointState(header=header), is_diff=True)
 
         if options.get('attached_collision_meshes'):

src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py

@@ -119,7 +119,7 @@ def plan_motion_async(self, callback, errback,
         joint_state = JointState(
             header=header,
             name=start_configuration.joint_names,
-            position=start_configuration.values)
+            position=start_configuration.joint_values)
         start_state = RobotState(
             joint_state, MultiDOFJointState(header=header), is_diff=True)
 

src/compas_fab/backends/ros/client.py

@@ -219,10 +219,10 @@ def follow_configurations(self, callback, joint_names, configurations, timesteps
             timeout = timesteps[-1] * 1000 * 2
 
         points = []
-        num_joints = len(configurations[0].values)
+        num_joints = len(configurations[0].joint_values)
         for config, time in zip(configurations, timesteps):
-            pt = RosMsgJointTrajectoryPoint(positions=config.values, velocities=[
-                                      0]*num_joints, time_from_start=Time(secs=(time)))
+            pt = RosMsgJointTrajectoryPoint(positions=config.joint_values, velocities=[
+                                      0] * num_joints, time_from_start=Time(secs=(time)))
             points.append(pt)
 
         joint_trajectory = RosMsgJointTrajectory(

src/compas_fab/backends/vrep/client.py

@@ -223,7 +223,7 @@ def set_robot_config(self, robot, config):
 
         values = config_to_vrep(config, self.scale)
 
-        self.set_robot_metric(robot.model.attr['index'], [0.0] * len(config.values))
+        self.set_robot_metric(robot.model.attr['index'], [0.0] * len(config.joint_values))
         self.run_child_script('moveRobotFK',
                               [], values, ['robot' + robot.name])