RigidBody constructor to accept lists of meshes for visualization and…

… collision checking, no defaults

docs/examples/05_backends_pybullet/files/01_robot_cell_basics.py

@@ -13,12 +13,13 @@
 
     # Add some RigidBodies as stationary obstacles
     floor_mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
-    robot_cell.rigid_body_models["floor"] = RigidBody(floor_mesh)
+    robot_cell.rigid_body_models["floor"] = RigidBody.from_mesh(floor_mesh)
     cone = Mesh.from_stl(compas_fab.get("planning_scene/cone.stl"))
-    robot_cell.rigid_body_models["cone"] = RigidBody(cone)
+    robot_cell.rigid_body_models["cone"] = RigidBody.from_mesh(cone)
 
+    # Add a target marker as a RigidBody with visual mesh but no collision mesh
     target_marker = Mesh.from_obj(compas_fab.get("planning_scene/target_marker.obj"))
-    robot_cell.rigid_body_models["target_marker"] = RigidBody(target_marker)
+    robot_cell.rigid_body_models["target_marker"] = RigidBody(target_marker, None)
 
     # The planner object is needed to pass the robot cell into the PyBullet client
     planner = PyBulletPlanner(client)

src/compas_fab/robots/robot_cell.py

@@ -169,8 +169,8 @@ def get_attached_rigid_bodies_as_attached_collision_meshes(self, robot_cell_stat
 class RigidBody(Data):
     """Represents a rigid body."""
 
-    def __init__(self, visual_meshes=None, collision_meshes=None):
-        # type: (Optional[List[Mesh] | Mesh], Optional[List[Mesh] | Mesh]) -> None
+    def __init__(self, visual_meshes, collision_meshes):
+        # type: (List[Mesh] | Mesh, List[Mesh] | Mesh) -> None
         """Represents a rigid body.
 
         A rigid body can have different visual and collision meshes.
@@ -227,6 +227,59 @@ def __data__(self):
             "collision_meshes": self.collision_meshes,
         }
 
+    @classmethod
+    def from_mesh(cls, mesh):
+        # type: (Mesh) -> RigidBody
+        """Creates a RigidBody from a single mesh.
+
+        This function is a convenience function for creating a RigidBody from a single mesh.
+        The mesh will be used for both visualization and collision checking.
+
+        Parameters
+        ----------
+        mesh : :class:`compas.datastructures.Mesh`
+            The mesh of the rigid body.
+
+        Returns
+        -------
+        :class:`compas_fab.robots.RigidBody`
+            The rigid body.
+
+        Notes
+        -----
+        If the user would like to use different meshes for visualization and collision checking,
+        consider using the constructor directly: `RigidBody(visual_meshes, collision_meshes)`.
+
+        """
+        return cls([mesh], [mesh])
+
+    @classmethod
+    def from_meshes(cls, meshes):
+        # type: (List[Mesh]) -> RigidBody
+        """Creates a RigidBody from a list of meshes.
+
+        This function is a convenience function for creating a RigidBody from a list of meshes.
+        The first mesh will be used for visualization and collision checking.
+        The rest of the meshes will be used for visualization only.
+
+        Parameters
+        ----------
+        meshes : list of :class:`compas.datastructures.Mesh`
+            The meshes of the rigid body.
+
+        Returns
+        -------
+        :class:`compas_fab.robots.RigidBody`
+            The rigid body.
+
+        Notes
+        -----
+        If the user would like to use different meshes for visualization and collision checking,
+        consider using the constructor directly: `RigidBody(visual_meshes, collision_meshes)`.
+
+        """
+        return cls(meshes, meshes)
+
 
 class RobotCellState(Data):
     """Represents the state of a robot cell.

src/compas_fab/robots/robot_library.py

@@ -491,7 +491,7 @@ def ur5_cone_tool(cls, client=None, load_geometry=True):
 
         # Static Floor as Collision Geometry
         floor_mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
-        robot_cell.rigid_body_models["floor"] = RigidBody(floor_mesh, floor_mesh)
+        robot_cell.rigid_body_models["floor"] = RigidBody.from_mesh(floor_mesh)
 
         # ------------------------------------------------------------------------
         # Create RobotCellState
@@ -564,11 +564,11 @@ def abb_irb4600_40_255_gripper_one_beam(cls, client=None, load_geometry=True):
             [0.0, -0.1, -beam_length * 0.5], [0.2, 0.1, -beam_length * 0.5], beam_length
         )
         beam_mesh = Mesh.from_shape(beam)
-        robot_cell.rigid_body_models["beam"] = RigidBody(beam_mesh, beam_mesh)
+        robot_cell.rigid_body_models["beam"] = RigidBody.from_mesh(beam_mesh)
 
         # Static Floor as Collision Geometry
         floor_mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
-        robot_cell.rigid_body_models["floor"] = RigidBody(floor_mesh, floor_mesh)
+        robot_cell.rigid_body_models["floor"] = RigidBody.from_mesh(floor_mesh)
 
         # ------------------------------------------------------------------------
         # Create RobotCellState
@@ -634,11 +634,11 @@ def ur10e_gripper_one_beam(cls, client=None, load_geometry=True):
             [0.0, -0.05, -beam_length * 0.5], [0.1, 0.05, -beam_length * 0.5], beam_length
         )
         beam_mesh = Mesh.from_shape(beam)
-        robot_cell.rigid_body_models["beam"] = RigidBody(beam_mesh, beam_mesh)
+        robot_cell.rigid_body_models["beam"] = RigidBody.from_mesh(beam_mesh)
 
         # Static Floor as Collision Geometry
         floor_mesh = Mesh.from_stl(compas_fab.get("planning_scene/floor.stl"))
-        robot_cell.rigid_body_models["floor"] = RigidBody(floor_mesh, floor_mesh)
+        robot_cell.rigid_body_models["floor"] = RigidBody.from_mesh(floor_mesh)
 
         # ------------------------------------------------------------------------
         # Create RobotCellState
@@ -704,7 +704,7 @@ def target_marker(cls, size=1.0):
         # Scale the target marker to the desired size
         mesh.scale(size)
 
-        return RigidBody([mesh], [])
+        return RigidBody(mesh, None)
 
 
 if __name__ == "__main__":