Merge pull request #110 from tetov/allow_skeleton_robot_instances

Fixes and documentation for compas_fab.robots.Robot.basic method

Author: beverlylytle

CHANGELOG.rst

@@ -17,6 +17,9 @@ Unreleased
 
 **Changed**
 
+* Property :class:`compas_fab.robots.Robot.artist` does not try to scale robot
+  geometry if links and/or joints are not defined.
+
 **Removed**
 
 **Fixed**

src/compas_fab/robots/robot.py

@@ -64,23 +64,38 @@ def artist(self):
     @artist.setter
     def artist(self, artist):
         self._artist = artist
-        self.scale(self._scale_factor)
-        if self.attached_tool:
-            self.artist.attach_tool(self.attached_tool)
+        if len(self.model.joints) > 0 and len(self.model.links) > 0:
+            self.scale(self._scale_factor)
+            if self.attached_tool:
+                self.artist.attach_tool(self.attached_tool)
 
     @classmethod
     def basic(cls, name, joints=None, links=None, materials=None, **kwargs):
-        """Convenience method to create the most basic instance of a robot, based only on a name.
+        """Convenience method to create the most basic instance of a robot,
+           based only on a name.
 
         Parameters
         ----------
         name : str
             Name of the robot
+        joints : :class:`compas.robots.Joint`, optional
+        links : :class:`compas.robots.Link`, optional
+        materials : :class:`compas.robots.Material`, optional
+        **kwargs
+            Keyword arguments passed to :class:`compas.robots.RobotModel`
+            and stored as :attr:`compas.robots.RobotModel.attr`.
+            Accessible from :attr:`Robot.model.attr`.
 
         Returns
         -------
         :class:`Robot`
             Newly created instance of a robot.
+
+        Examples
+        --------
+        >>> robot = Robot.basic('A robot')
+        >>> robot.name
+        'A robot'
         """
         model = RobotModel(name, joints=joints or [], links=links or [],
                            materials=materials or [], **kwargs)

tests/robots/test_robot.py

@@ -0,0 +1,66 @@
+
+import os
+
+import pytest
+from compas.robots import RobotModel
+
+from compas_fab.robots import Robot
+from compas_fab.robots import RobotSemantics
+from compas_fab.robots.ur5 import Robot as Ur5Robot
+
+BASE_FOLDER = os.path.dirname(__file__)
+
+
+@pytest.fixture
+def panda_srdf():
+    return os.path.join(BASE_FOLDER, 'fixtures', 'panda_semantics.srdf')
+
+
+@pytest.fixture
+def panda_urdf():
+    return os.path.join(BASE_FOLDER, 'fixtures', 'panda.urdf')
+
+
+@pytest.fixture
+def panda_joints(panda_urdf, panda_srdf):
+    model = RobotModel.from_urdf_file(panda_urdf)
+    semantics = RobotSemantics.from_srdf_file(panda_srdf, model)
+    return semantics.get_configurable_joints()
+
+
+@pytest.fixture
+def ur5_joints():
+    robot = Ur5Robot()
+    return robot.model.joints
+
+
+@pytest.fixture
+def ur5_links():
+    robot = Ur5Robot()
+    return robot.model.links
+
+
+def test_basic_name_only():
+    robot = Robot.basic('testbot')
+    assert robot.artist is None
+
+
+def test_basic_name_joints_links(ur5_joints, ur5_links):
+    robot = Robot.basic('testbot', joints=ur5_joints, links=ur5_links)
+    assert len(robot.model.links) == 11
+    assert len(robot.get_configurable_joint_names()) == 6
+
+
+def test_basic_name_joints(ur5_joints):
+    robot = Robot.basic('testbot', joints=ur5_joints)
+    assert len(robot.model.joints) == 10
+
+
+def test_basic_name_links(ur5_links):
+    robot = Robot.basic('testbot', links=ur5_links)
+    assert len(robot.model.links) == 11
+
+
+def test_basic_attr():
+    robot = Robot.basic('testbot', location="rfl")
+    assert robot.model.attr['location'] == "rfl"