Merge pull request #379 from compas-dev/fk_component

Add FK GH component

Author: gonzalocasas

.github/workflows/pr-checks.yml

@@ -14,6 +14,6 @@ jobs:
       - name: Changelog check
         uses: Zomzog/[email protected]
         with:
-          fileName: CHANGELOG.rst
+          fileName: CHANGELOG.md
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

CHANGELOG.md

@@ -9,6 +9,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 **Added**
 
+* Added `Forward Kinematics` GH component.
+
 **Changed**
 
 **Fixed**

src/compas_fab/ghpython/components/Cf_ForwardKinematics/code.py

@@ -0,0 +1,19 @@
+"""
+Calculate the robot's forward kinematic for a given configuration.
+
+COMPAS FAB v0.27.0
+"""
+from ghpythonlib.componentbase import executingcomponent as component
+
+
+class ForwardKinematics(component):
+    def RunScript(self, robot, config, group, link, use_only_model):
+        frame = None
+        if robot and config:
+            options = {}
+            if link:
+                options["link"] = link
+            if use_only_model:
+                options["solver"] = "model"
+            frame = robot.forward_kinematics(config, group, options=options)
+        return frame

src/compas_fab/ghpython/components/Cf_ForwardKinematics/icon.png

@@ -0,0 +1,44 @@
+{
+    "name": "Forward Kinematics",
+    "nickname": "FK",
+    "category": "COMPAS FAB",
+    "subcategory": "Planning",
+    "description": "Calculate the robot's forward kinematic for a given configuration.",
+    "exposure": 2,
+    "ghpython": {
+        "isAdvancedMode": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "robot",
+                "description": "The robot.",
+                "wireDisplay": "hidden"
+            },
+            {
+                "name": "config",
+                "description": "The configuration to calculate the forward kinematics for."
+            },
+            {
+                "name": "group",
+                "description": "The planning group used for calculation. Defaults to the robot's main planning group.",
+                "typeHintID": "str"
+            },
+            {
+                "name": "link",
+                "description": "The link name to calculate forward kinematics for. Defaults to the robot's end effector.",
+                "typeHintID": "str"
+            },
+            {
+                "name": "use_only_model",
+                "description": "If True, use only the robot model instead of the connected backend to calculate FK.",
+                "typeHintID": "bool"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "frame",
+                "description": "The resulting frame."
+            }
+        ]
+    }
+}