changed arguments of ik and fk to resamble arguments of plan_motion and plan_cartesian_motion

Author: romanarust

src/compas_fab/backends/ros/client.py

@@ -169,13 +169,13 @@ 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,
+    def inverse_kinematics(self, robot, frame, group,
                            start_configuration, avoid_collisions=True,
                            constraints=None, attempts=8,
                            attached_collision_meshes=None):
         kwargs = {}
+        kwargs['robot'] = robot
         kwargs['frame'] = frame
-        kwargs['base_link'] = base_link
         kwargs['group'] = group
         kwargs['start_configuration'] = start_configuration
         kwargs['avoid_collisions'] = avoid_collisions
@@ -186,10 +186,10 @@ def inverse_kinematics(self, frame, base_link, group,
 
         return await_callback(self.inverse_kinematics_async, **kwargs)
 
-    def forward_kinematics(self, configuration, base_link, group, ee_link):
+    def forward_kinematics(self, robot, configuration, group, ee_link):
         kwargs = {}
+        kwargs['robot'] = robot
         kwargs['configuration'] = configuration
-        kwargs['base_link'] = base_link
         kwargs['group'] = group
         kwargs['ee_link'] = ee_link
 

src/compas_fab/backends/ros/planner_backend_moveit.py

@@ -117,10 +117,11 @@ def dispose_planner(self):
     # planning services
     # ==========================================================================
 
-    def inverse_kinematics_async(self, callback, errback, frame, base_link, group,
+    def inverse_kinematics_async(self, callback, errback, robot, frame, group,
                                  start_configuration, avoid_collisions=True,
                                  constraints=None, attempts=8, attached_collision_meshes=None):
         """Asynchronous handler of MoveIt IK service."""
+        base_link = robot.model.root.name
         header = Header(frame_id=base_link)
         pose = Pose.from_frame(frame)
         pose_stamped = PoseStamped(header, pose)
@@ -145,9 +146,10 @@ def convert_to_positions(response):
 
         self.GET_POSITION_IK(self, (ik_request, ), convert_to_positions, errback)
 
-    def forward_kinematics_async(self, callback, errback, configuration, base_link,
+    def forward_kinematics_async(self, callback, errback, robot, configuration,
                                  group, ee_link):
         """Asynchronous handler of MoveIt FK service."""
+        base_link = robot.model.root.name
         header = Header(frame_id=base_link)
         fk_link_names = [ee_link]
         joint_state = JointState(

src/compas_fab/robots/robot.py

@@ -962,7 +962,8 @@ def inverse_kinematics(self, frame_WCF, start_configuration=None,
                 attached_collision_meshes = [self.attached_tool.attached_collision_mesh]
 
         # 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,
+        joint_positions, joint_names = self.client.inverse_kinematics(self,
+                                                                      frame_WCF_scaled,
                                                                       group, start_configuration_scaled,
                                                                       avoid_collisions, constraints, attempts,
                                                                       attached_collision_meshes)
@@ -1030,8 +1031,9 @@ def forward_kinematics(self, full_configuration, group=None, backend=None, link_
 
         if not backend:
             if self.client:
-                frame_WCF = self.client.forward_kinematics(full_configuration_scaled,
-                                                           self.model.root.name, group,
+                frame_WCF = self.client.forward_kinematics(self,
+                                                           full_configuration_scaled,
+                                                           group,
                                                            link_name)
                 frame_WCF.point *= self.scale_factor
             else: