changed inverse_kinematics to take instance of Configuration

Author: romanarust

src/compas_fab/backends/ros/client.py

@@ -170,15 +170,14 @@ def load_robot(self, load_geometry=False, urdf_param_name='/robot_description',
         return Robot(model, semantics=semantics, client=self)
 
     def inverse_kinematics(self, frame, base_link, group,
-                           joint_names, joint_positions, avoid_collisions=True,
+                           start_configuration, avoid_collisions=True,
                            constraints=None, attempts=8,
                            attached_collision_meshes=None):
         kwargs = {}
         kwargs['frame'] = frame
         kwargs['base_link'] = base_link
         kwargs['group'] = group
-        kwargs['joint_names'] = joint_names
-        kwargs['joint_positions'] = joint_positions
+        kwargs['start_configuration'] = start_configuration
         kwargs['avoid_collisions'] = avoid_collisions
         kwargs['constraints'] = constraints
         kwargs['attempts'] = attempts

src/compas_fab/backends/ros/planner_backend_moveit.py

@@ -118,14 +118,14 @@ def dispose_planner(self):
     # ==========================================================================
 
     def inverse_kinematics_async(self, callback, errback, frame, base_link, group,
-                                 joint_names, joint_positions, avoid_collisions=True,
+                                 start_configuration, avoid_collisions=True,
                                  constraints=None, attempts=8, attached_collision_meshes=None):
         """Asynchronous handler of MoveIt IK service."""
         header = Header(frame_id=base_link)
         pose = Pose.from_frame(frame)
         pose_stamped = PoseStamped(header, pose)
         joint_state = JointState(
-            name=joint_names, position=joint_positions, header=header)
+            name=start_configuration.joint_names, position=start_configuration.values, header=header)
         start_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
         if attached_collision_meshes:

src/compas_fab/robots/robot.py

@@ -963,7 +963,7 @@ def inverse_kinematics(self, frame_WCF, start_configuration=None,
 
         # The returned joint names might be more than the requested ones if there are passive joints present
         joint_positions, joint_names = self.client.inverse_kinematics(frame_WCF_scaled, self.model.root.name,
-                                                                      group, start_configuration_scaled.joint_names, start_configuration_scaled.values,
+                                                                      group, start_configuration_scaled,
                                                                       avoid_collisions, constraints, attempts,
                                                                       attached_collision_meshes)
         if full_joint_state: