tidying up

Author: beverlylytle

…s_pybullet/files/02_foward_kinematics.py …_pybullet/files/02_forward_kinematics.pydocs/examples/05_backends_pybullet/files/02_foward_kinematics.py renamed to docs/examples/05_backends_pybullet/files/02_forward_kinematics.py docs/examples/05_backends_pybullet/files/02_foward_kinematics.py renamed to docs/examples/05_backends_pybullet/files/02_forward_kinematics.py

@@ -1,5 +1,4 @@
 import compas_fab
-
 from compas_fab.backends import PyBulletClient
 from compas_fab.robots import Configuration
 

src/compas_fab/backends/__init__.py

@@ -56,6 +56,8 @@
     :nosignatures:
 
     BackendError
+    CollisionError
+    InverseKinematicsError
     RosError
     RosValidationError
     VrepError
@@ -75,7 +77,8 @@
 from .vrep.planner import *             # noqa: F401,F403
 
 if not compas.is_ironpython():
-    from .pybullet.planner import *           # noqa: F401,F403
     from .pybullet.client import *            # noqa: F401,F403
+    from .pybullet.exceptions import *        # noqa: F401,F403
+    from .pybullet.planner import *           # noqa: F401,F403
 
 __all__ = [name for name in dir() if not name.startswith('_')]

src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py

@@ -30,7 +30,7 @@ def forward_kinematics(self, configuration, group=None, options=None):
             - ``"link"``: (:obj:`str`, optional) The name of the link to
               calculate the forward kinematics for. Defaults to the end effector.
             - ``"check_collision"``: (:obj:`str`, optional) When ``True``,
-              :meth:`compas.pybullet.PyBulletClient.check_collisions` will be called.
+              :meth:`compas_fab.backends.PyBulletClient.check_collisions` will be called.
               Defaults to ``False``.
 
         Returns
@@ -39,11 +39,6 @@ def forward_kinematics(self, configuration, group=None, options=None):
             The frame in the world's coordinate system (WCF).
         """
         robot = options['robot']
-        # Joint names, but not link names, are recoverable from the pybullet server.
-        # My intention is that a user doesn't have to care about pybullet's internal id system,
-        # except for maybe the robot's uid.  I would put just the robot uid in the options
-        # (rather than the full robot)
-        # if it were possible to recover the links, but it's not.
         link_name = options.get('link') or robot.get_end_effector_link_name(group)
         link_id = self.client._get_link_id_by_name(link_name, robot)
         self.client.set_robot_configuration(robot, configuration, group)

src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py

@@ -42,7 +42,7 @@ def inverse_kinematics(self, frame_WCF, start_configuration=None, group=None, op
         options: dict, optional
             Dictionary containing the following key-value pairs:
 
-            -``"robot"``: (:class:`compas_fab.robots.Robot) Robot for which to compute
+            - ``"robot"``: (:class:`compas_fab.robots.Robot`) Robot for which to compute
               the inverse kinematics.
             - ``"link_name"``: (:obj:`str`, optional ) Name of the link for which
               to compute the inverse kinematics.  Defaults to the given robot's end
@@ -57,11 +57,11 @@ def inverse_kinematics(self, frame_WCF, start_configuration=None, group=None, op
         Returns
         -------
         :class:`compas_fab.robots.Configuration`
-            The planning group's configuration.
+            The robot's full configuration.
 
         Raises
         ------
-        :class:`compas_fab.backends.pybullet.InverseKinematicsError`
+        :class:`compas_fab.backends.InverseKinematicsError`
         """
         robot = options['robot']
         link_name = options.get('link_name') or robot.get_end_effector_link_name(group)

src/compas_fab/backends/pybullet/client.py

@@ -151,7 +151,7 @@ def __exit__(self, *args):
 
     def step_simulation(self):
         """By default, the physics server will not step the simulation,
-        unless you explicitly send a ``step_simulation``command.  This
+        unless you explicitly send a ``step_simulation`` command.  This
         method will perform all the actions in a single forward dynamics
         simulation step such as collision detection, constraint solving
         and integration. The timestep is 1/240 second.
@@ -309,7 +309,7 @@ def check_collision_objects_for_collision(self):
 
         Raises
         -------
-        :class:`compas_fab.backends.pybullet.CollisionError`
+        :class:`compas_fab.backends.CollisionError`
         """
         names = self.collision_objects.keys()
         for name_1, name_2 in combinations(names, 2):
@@ -384,7 +384,7 @@ def _set_joint_positions(self, joint_ids, values, body_id):
         for joint_id, value in zip(joint_ids, values):
             self._set_joint_position(joint_id, value, body_id)
 
-    def set_robot_configuration(self, robot, configuration, group):
+    def set_robot_configuration(self, robot, configuration, group=None):
         """Sets the robot's pose to the given configuration. Should be followed by
         `step_simulation` for visualization purposes.
 

src/compas_fab/backends/pybullet/exceptions.py

@@ -12,7 +12,7 @@ def __init__(self, message):
 
 
 class CollisionError(PyBulletError):
-    """Exception raised when two objects have been found to be in collision."""
+    """Exception raised when two objects have been found to be in collision in PyBullet."""
     def __init__(self, name1, name2):
         message = "Collision between '{}' and '{}'".format(name1, name2)
         super(CollisionError, self).__init__(message)
@@ -21,7 +21,7 @@ def __init__(self, name1, name2):
 
 
 class InverseKinematicsError(PyBulletError):
-    """Exception raised when no IK solution can be found."""
+    """Exception raised when no IK solution can be found in PyBullet."""
     def __init__(self):
         message = "No inverse kinematics solution found."
         super(InverseKinematicsError, self).__init__(message)

src/compas_fab/backends/pybullet/planner.py

@@ -14,6 +14,7 @@
 
 
 class PyBulletPlanner(PlannerInterface):
+    """Implement the planner backend interface for PyBullet."""
     def __init__(self, client):
         super(PyBulletPlanner, self).__init__(client)