Merge pull request #113 from ichumuh/rip_connection_factories

Rip connection factories

Author: ichumuh

.github/workflows/build_and_deploy_doc.yml

@@ -8,7 +8,6 @@ on:
   push:
     branches:
     - main
-    - student_exercises
 
     # If your git repository has the Jupyter Book within some-subfolder next to
     # unrelated files, you can make this run only if a file within that specific

.github/workflows/exercise-test-ci.yml

@@ -9,7 +9,6 @@ on:
   push:
     branches:
       - main
-      - student_exercises
   pull_request:
     branches:
       - main

examples/regions.md

@@ -62,7 +62,7 @@ table_top.collision = table_top_shapes
 table_top.visual = table_top_shapes
 
 with world.modify_world():
-    root_to_leg = Connection6DoF(parent=root, child=table_leg, _world=world)
+    root_to_leg = Connection6DoF.create_with_dofs(parent=root, child=table_leg, world=world)
     world.add_connection(root_to_leg)
 
     leg_to_top = FixedConnection(
@@ -71,7 +71,6 @@ with world.modify_world():
         parent_T_connection_expression=TransformationMatrix.from_xyz_rpy(
             z=0.3, reference_frame=table_leg
         ),
-        _world=world,
     )
     world.add_connection(leg_to_top)
 ```
@@ -97,7 +96,7 @@ We will now say the the region moves exactly as the table top moves.
 ```{code-cell} ipython3
 with world.modify_world():
     world.add_kinematic_structure_entity(table_surface)
-    connection = FixedConnection(table_top, table_surface, _world=world)
+    connection = FixedConnection(table_top, table_surface)
     world.add_connection(connection)
 print(world.regions)
 ```

examples/semantic_annotations.md

@@ -65,15 +65,15 @@ with world.modify_world():
     apple_body.collision = [sphere]
     apple_body.visual = [sphere]
 
-    world.add_connection(Connection6DoF(parent=root, child=apple_body, _world=world))
+    world.add_connection(Connection6DoF.create_with_dofs(parent=root, child=apple_body, world=world))
     world.add_semantic_annotation(Apple(body=apple_body, name=PrefixedName("apple1")))
 
     # Our second apple
     apple_body_2 = Body(name=PrefixedName("apple_body_2"))
     sphere2 = Sphere(radius=0.15, origin=TransformationMatrix(reference_frame=apple_body_2))
     apple_body_2.collision = [sphere2]
     apple_body_2.visual = [sphere2]
-    c2 = Connection6DoF(parent=root, child=apple_body_2, _world=world)
+    c2 = Connection6DoF.create_with_dofs(parent=root, child=apple_body_2, world=world)
     world.add_connection(c2)
     # Move it a bit so we can see both
     world.state[c2.x.name].position = 0.3

examples/using_transformations.md

@@ -64,8 +64,8 @@ camera_body = Body(
 )
 
 # Connect base to the world root, and camera to the base.
-world_C_base = Connection6DoF(parent=root, child=base_body, _world=world)
-base_C_camera = Connection6DoF(parent=base_body, child=camera_body, _world=world)
+world_C_base = Connection6DoF.create_with_dofs(parent=root, child=base_body, world=world)
+base_C_camera = Connection6DoF.create_with_dofs(parent=base_body, child=camera_body, world=world)
 
 # Place the base: put it slightly above the ground so the top sits at z≈0.05
 world_T_base = TransformationMatrix.from_xyz_rpy(z=0.025, reference_frame=root)

examples/world_state_manipulation.md

@@ -120,7 +120,7 @@ with world.modify_world():
     new_root.collision = [box]
     
     world.add_body(new_root)
-    root_T_dresser = Connection6DoF(new_root, old_root, _world=world)
+    root_T_dresser = Connection6DoF.create_with_dofs(parent=new_root, child=old_root, world=world)
     world.add_connection(root_T_dresser)
 rt = RayTracer(world)
 rt.update_scene()

examples/world_structure_manipulation.md

@@ -54,7 +54,7 @@ with world.modify_world():
     # 1) Add a passive 6DoF connection from root -> base.
     #    This will automatically create 7 passive DoFs (x, y, z, qx, qy, qz, qw)
     #    and register them in the world's state.
-    c_root_base = Connection6DoF(parent=root, child=base, _world=world)
+    c_root_base = Connection6DoF.create_with_dofs(parent=root, child=base, world=world)
     world.add_connection(c_root_base)
 
     # 2) Create a custom DoF and use it in an active RevoluteConnection
@@ -68,7 +68,6 @@ with world.modify_world():
         child=link,
         dof_name=joint.name,
         axis=Vector3.Z(reference_frame=base),
-        _world=world,
     )
     world.add_connection(c_base_link)
 

self_assessment/exercises/0_using_transformations.md

@@ -68,8 +68,8 @@ box_body = Body(
     collision=ShapeCollection([cube]),
     visual=ShapeCollection([cube]),
 )
-table_world_C_box = Connection6DoF(table_world.root, box_body)
 with table_world.modify_world():
+    table_world_C_box = Connection6DoF.create_with_dofs(parent=table_world.root, child=box_body, world=table_world)
     table_world.add_connection(table_world_C_box)
 
 rt = RayTracer(table_world); rt.update_scene(); rt.scene.show("jupyter")

self_assessment/exercises/4_world_structure_manipulation.md

@@ -61,16 +61,15 @@ world = World()
 root = Body(name=PrefixedName(name="root", prefix="world"))
 base = Body(name=PrefixedName("base"))
 body = Body(name=PrefixedName("body"))
-root_C_base = Connection6DoF(parent=root, child=base)
-base_C_body_dof = DegreeOfFreedom(name=PrefixedName("joint_z"))
-base_C_body = RevoluteConnection(
-        parent=base,
-        child=body,
-        dof_name=base_C_body_dof.name,
-        axis=Vector3.Z(reference_frame=base),
-    )
 
 with world.modify_world():
+    root_C_base = Connection6DoF.create_with_dofs(parent=root, child=base, world=world)
+    base_C_body = RevoluteConnection.create_with_dofs(
+            parent=base,
+            child=body,
+            axis=Vector3.Z(reference_frame=base),
+            world=world
+        )
     world.add_connection(root_C_base)    
     world.add_connection(base_C_body)
 ```

self_assessment/exercises/5_semantic_annotations.md

@@ -160,9 +160,9 @@ with world.modify_world():
     world.add_semantic_annotation(bottle_large)
     world.add_semantic_annotation(bottle_medium)
 
-    root_C_bottle_large = Connection6DoF(parent=virtual_root, child=bottle_large_body)
-    bottle_large_C_cap = Connection6DoF(parent=bottle_large_body, child=cap_body)
-    root_C_bottle_medium = Connection6DoF(parent=virtual_root, child=bottle_medium_body)
+    root_C_bottle_large = Connection6DoF.create_with_dofs(parent=virtual_root, child=bottle_large_body, world=world)
+    bottle_large_C_cap = Connection6DoF.create_with_dofs(parent=bottle_large_body, child=cap_body, world=world)
+    root_C_bottle_medium = Connection6DoF.create_with_dofs(parent=virtual_root, child=bottle_medium_body, world=world)
 
     world.add_connection(root_C_bottle_large)
     world.add_connection(bottle_large_C_cap)