Merge pull request #74 from BerkeleyAutomation/remove/arm

Enable MacOS ARM Runner And Wheels

Author: mikedh

.github/workflows/push.yml

@@ -12,27 +12,23 @@ jobs:
       - name: Set up Python environment
         uses: actions/setup-python@v4
         with:
-          python-version: 3.9
-      - name: flake8
-        uses: py-actions/flake8@v2
-      - name: black
-        uses: psf/black@stable
-        with:
-          options: '--check --diff -l 90'
+          python-version: "3.10"
+      - name: ruff
+        run: |
+          pip install ruff
+          ruff .
 
   build_wheels:
     name: Build wheel on ${{matrix.platform}}
     runs-on: ${{matrix.platform}}
     strategy:
       fail-fast: false
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-latest, macos-latest, windows-latest, macos-14]
     steps:
       - uses: actions/checkout@v3
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.15.0
-        env:
-          CIBW_ARCHS_MACOS: 'x86_64 arm64'
+        uses: pypa/cibuildwheel@v2.16.5
       - uses: actions/upload-artifact@v3
         with:
           path: ./wheelhouse/*.whl

.github/workflows/release.yml

@@ -44,11 +44,11 @@ jobs:
     needs: create_release
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest]
+        platform: [ubuntu-latest, macos-latest, windows-latest, macos-14]
     steps:
       - uses: actions/checkout@v3
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.15.0
+        uses: pypa/cibuildwheel@v2.16.5
         env:
           CIBW_ARCHS_MACOS: 'x86_64 arm64'
       - uses: actions/upload-artifact@v3

examples/example.py

@@ -1,28 +1,27 @@
-import numpy as np
-
 import fcl
+import numpy as np
 
 
 def print_collision_result(o1_name, o2_name, result):
-    print("Collision between {} and {}:".format(o1_name, o2_name))
+    print(f"Collision between {o1_name} and {o2_name}:")
     print("-" * 30)
-    print("Collision?: {}".format(result.is_collision))
-    print("Number of contacts: {}".format(len(result.contacts)))
+    print(f"Collision?: {result.is_collision}")
+    print(f"Number of contacts: {len(result.contacts)}")
     print("")
 
 
 def print_continuous_collision_result(o1_name, o2_name, result):
-    print("Continuous collision between {} and {}:".format(o1_name, o2_name))
+    print(f"Continuous collision between {o1_name} and {o2_name}:")
     print("-" * 30)
-    print("Collision?: {}".format(result.is_collide))
-    print("Time of collision: {}".format(result.time_of_contact))
+    print(f"Collision?: {result.is_collide}")
+    print(f"Time of collision: {result.time_of_contact}")
     print("")
 
 
 def print_distance_result(o1_name, o2_name, result):
-    print("Distance between {} and {}:".format(o1_name, o2_name))
+    print(f"Distance between {o1_name} and {o2_name}:")
     print("-" * 30)
-    print("Distance: {}".format(result.min_distance))
+    print(f"Distance: {result.min_distance}")
     print("Closest Points:")
     print(result.nearest_points[0])
     print(result.nearest_points[1])
@@ -166,25 +165,25 @@ def print_distance_result(o1_name, o2_name, result):
 # =====================================================================
 cdata = fcl.CollisionData()
 manager1.collide(cdata, fcl.defaultCollisionCallback)
-print("Collision within manager 1?: {}".format(cdata.result.is_collision))
+print(f"Collision within manager 1?: {cdata.result.is_collision}")
 print("")
 
 cdata = fcl.CollisionData()
 manager2.collide(cdata, fcl.defaultCollisionCallback)
-print("Collision within manager 2?: {}".format(cdata.result.is_collision))
+print(f"Collision within manager 2?: {cdata.result.is_collision}")
 print("")
 
 # =====================================================================
 # Managed internal (n^2) distance checking
 # =====================================================================
 ddata = fcl.DistanceData()
 manager1.distance(ddata, fcl.defaultDistanceCallback)
-print("Closest distance within manager 1?: {}".format(ddata.result.min_distance))
+print(f"Closest distance within manager 1?: {ddata.result.min_distance}")
 print("")
 
 ddata = fcl.DistanceData()
 manager2.distance(ddata, fcl.defaultDistanceCallback)
-print("Closest distance within manager 2?: {}".format(ddata.result.min_distance))
+print(f"Closest distance within manager 2?: {ddata.result.min_distance}")
 print("")
 
 # =====================================================================
@@ -194,19 +193,19 @@ def print_distance_result(o1_name, o2_name, result):
 rdata = fcl.CollisionData(request=req)
 
 manager1.collide(fcl.CollisionObject(mesh), rdata, fcl.defaultCollisionCallback)
-print("Collision between manager 1 and Mesh?: {}".format(rdata.result.is_collision))
+print(f"Collision between manager 1 and Mesh?: {rdata.result.is_collision}")
 print("Contacts:")
 for c in rdata.result.contacts:
-    print("\tO1: {}, O2: {}".format(c.o1, c.o2))
+    print(f"\tO1: {c.o1}, O2: {c.o2}")
 print("")
 
 # =====================================================================
 # Managed many to many collision checking
 # =====================================================================
 rdata = fcl.CollisionData(request=req)
 manager3.collide(manager2, rdata, fcl.defaultCollisionCallback)
-print("Collision between manager 2 and manager 3?: {}".format(rdata.result.is_collision))
+print(f"Collision between manager 2 and manager 3?: {rdata.result.is_collision}")
 print("Contacts:")
 for c in rdata.result.contacts:
-    print("\tO1: {}, O2: {}".format(c.o1, c.o2))
+    print(f"\tO1: {c.o1}, O2: {c.o2}")
 print("")

pyproject.toml

@@ -3,10 +3,99 @@ requires = [
 	"setuptools",
 	"wheel",
 	"Cython<3.0",
-	"oldest-supported-numpy; python_version<'3.12'",
+	"numpy; python_version<'3.12'",
 	"numpy>=1.26.0b1; python_version>='3.12'"]
 build-backend = "setuptools.build_meta"
 
+[project]
+name = "python-fcl"
+description = "Python bindings for the Flexible Collision Library"
+requires-python = ">=3.7"
+authors = [
+    {name = "Jelle Feringa", email = "jelleferinga@gmail.com"},
+    {name = "Matthew Matl", email = "mmatl@eecs.berkeley.edu"},
+    {name = "Shirokuma", email = "rootstock_acg@yahoo.co.jp"},
+    {name = "Michael Dawson-Haggerty"},
+    {name = "See contributor list"},
+]
+maintainers = [{name = "Matthew Matl", email = "mmatl@eecs.berkeley.edu"}]
+license = {text = "BSD"}
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "License :: OSI Approved :: BSD License",
+    "Operating System :: POSIX :: Linux",
+    "Operating System :: MacOS",
+    "Operating System :: Microsoft :: Windows",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.7",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: Implementation :: CPython",
+]
+keywords = ["fcl collision distance"]
+dependencies = [
+    "numpy; python_version<'3.12'",
+    "numpy>=1.26.0b1; python_version>='3.12'",
+    "Cython",
+]
+dynamic = ["version"]
+
+[project.readme]
+file = "README.md"
+content-type = "text/markdown"
+
+[project.urls]
+Homepage = "https://github.com/berkeleyautomation/python-fcl"
+
+
+
+
+[tool.setuptools]
+include-package-data = true
+package-dir = {"" = "src"}
+license-files = ["LICENSE"]
+
+[tool.setuptools.package-data]
+"*" = ["*.pyx", "*.pxd", "*.dll"]
+
+[tool.setuptools.packages.find]
+where = ["src"]
+namespaces = false
+
+[tool.setuptools.dynamic]
+version = {attr = "fcl.__version__"}
+
+[tool.ruff]
+target-version = "py37"
+line-length = 90
+
+[tool.ruff.lint]
+# See https://github.com/charliermarsh/ruff#rules for error code definitions.
+select = [
+    "B", # bugbear
+    "C", # comprehensions
+    "E", # style errors
+    "F", # flakes
+    "I", # import sorting
+    "RUF100", # meta
+    "U", # upgrade
+    "W", # style warnings
+    "YTT", # sys.version
+]
+
+ignore = [
+  "C901", # Comprehension is too complex (11 > 10)
+  "N802", # Function name should be lowercase
+  "N806", # Variable in function should be lowercase
+  "E501", # Line too long ({width} > {limit} characters)
+  "B904", # raise ... from err
+  "B905", # zip() without an explicit strict= parameter
+]
+
+
 [tool.cibuildwheel]
 skip = ["pp*", "*musllinux*"]
 test-requires = "pytest"
@@ -18,7 +107,9 @@ archs = ["x86_64"]
 
 [tool.cibuildwheel.macos]
 before-all = "bash build_dependencies/install_macos.sh"
+environment = { CPATH = "$(brew --prefix)/include:$(brew --prefix)/include/eigen3", LD_LIBRARY_PATH = "$(brew --prefix)/lib" }
 
 [tool.cibuildwheel.windows]
 before-all = "powershell build_dependencies\\install_windows.ps1"
-archs = ["AMD64"]
+archs = ["AMD64"]
+

setup.cfg

@@ -1 +1 @@
-__version__ = "0.7.0.5"
+__version__ = "0.7.0.6"

src/fcl/version.py

@@ -1,8 +1,7 @@
 import unittest
 
-import numpy as np
-
 import fcl
+import numpy as np
 
 
 class TestFCL(unittest.TestCase):
@@ -206,7 +205,7 @@ def test_pairwise_continuous_collisions(self):
             self.geometry["cone"], fcl.Transform(np.array([0.0, 0.0, -2.0]))
         )
 
-        ret = fcl.continuousCollide(
+        _ret = fcl.continuousCollide(
             box, fcl.Transform(), cone, fcl.Transform(), request, result
         )
 

tests/test_fcl.py

@@ -1,8 +1,7 @@
 import unittest
 
-import numpy as np
-
 import fcl
+import numpy as np
 
 
 # These test cases were added because there was a very sneaky crash that would occur