Merge pull request #227 from compas-dev/minor_fixes

Minor fixes

Author: gonzalocasas

CHANGELOG.rst

@@ -19,7 +19,7 @@ Unreleased
 * Added ``attributes`` dictionary to ``Robot`` class
 * Added ``compas_fab.robots.Tool.from_t0cf_to_tcf``
 * Added ``compas_fab.robots.Tool.from_tcf_to_t0cf``
-* Added ```joint_names`` as optional parameter for all ``compas_fab.robots.Configuration`` constructors
+* Added ``joint_names`` as optional parameter for all ``compas_fab.robots.Configuration`` constructors
 * Added ``compas_fab.robots.Configuration.iter_differences``
 * Added ``compas_fab.robots.Configuration.max_difference``
 * Added ``compas_fab.robots.Configuration.close_to``
@@ -30,7 +30,7 @@ Unreleased
 
 **Changed**
 
-* Updated to ``COMPAS 0.16.1``
+* Updated to ``COMPAS 0.16.9``
 * Renamed ``compas_fab.robots.Robot.to_local_coords`` to ``compas_fab.robots.Robot.to_local_coordinates``
 * Renamed ``compas_fab.robots.Robot.to_world_coords`` to ``compas_fab.robots.Robot.to_world_coordinates``
 * Backend clients have been restructured according to the new interfaces

docs/examples/02_description_models/02_robot.rst

@@ -80,6 +80,7 @@ ROS and render it in Rhino:
     <div class="card-title">Downloads</div>
 
 * :download:`Robot artist from ROS (Rhino) (.PY) <files/02_robot_artist_rhino_from_ros.py>`
+* :download:`Robot artist from ROS (Grasshopper) (.GHX) <files/02_robot_artist_grasshopper_panda.ghx>`
 * :download:`Robot artist from Github (Rhino) (.PY) <files/02_robot_artist_rhino.py>`
 * :download:`Robot artist from Github (Blender) (.PY) <files/02_robot_artist_blender.py>`
 * :download:`Robot artist from Github (Grasshopper) (.GHX) <files/02_robot_artist_grasshopper.ghx>`

docs/examples/02_description_models/files/02_robot_artist_grasshopper.ghx

@@ -25,7 +25,8 @@
 from __future__ import print_function
 
 if robot and full_configuration:
-    robot.update(full_configuration, visual=show_visual, collision=show_collision)
+    group = group or None
+    robot.update(full_configuration, group, visual=show_visual, collision=show_collision)
 
     print(full_configuration)
 
@@ -36,8 +37,8 @@
         collision = robot.draw_collision()
 
     if show_frames:
-        axes = robot.transformed_axes(full_configuration)
-        frames = robot.transformed_frames(full_configuration)
+        axes = robot.transformed_axes(full_configuration, group)
+        frames = robot.transformed_frames(full_configuration, group)
 
     if show_base_frame:
         base_frame_WCF = robot.get_base_frame(group, full_configuration)

docs/examples/02_description_models/files/02_robot_artist_grasshopper_panda.ghx

@@ -358,7 +358,10 @@ def has_joint_names(self):
     def check_joint_names(self):
         """Raises an error if there is not a joint name for every value."""
         if not self.has_joint_names:
-            raise ValueError('Joint names are required for this operation.')
+            if not len(self.joint_names):
+                raise ValueError('Joint names are required for this operation.')
+            else:
+                raise ValueError('Joint names do not match the number of joint values. Joint names={}, Joint values={}'.format(len(self.values), len(self.joint_names)))
 
     @property
     def joint_dict(self):

docs/examples/03_backends_ros/files/gh_robot_visualisation.py

@@ -1599,7 +1599,7 @@ def transformed_axes(self, configuration, group=None):
     # drawing
     # ==========================================================================
 
-    def update(self, configuration, group, visual=True, collision=True):
+    def update(self, configuration, group=None, visual=True, collision=True):
         """Update the robot's geometry.
 
         Parameters
@@ -1616,9 +1616,12 @@ def update(self, configuration, group, visual=True, collision=True):
             ``True`` if the collision geometry should be also updated, otherwise ``False``.
             Defaults to ``True``.
         """
+        group = group or self.main_group_name if self.semantics else None
+
         if not len(configuration.joint_names):
             configuration.joint_names = self.get_configurable_joint_names(group)
         joint_state = dict(zip(configuration.joint_names, configuration.values))
+
         self.artist.update(joint_state, visual, collision)
 
     def draw_visual(self):