Merge branch 'main' into robot_visuals_blender

Author: beverlylytle

.github/workflows/build.yml

@@ -3,10 +3,10 @@ name: build
 on:
   push:
     branches:
-      - master
+      - main
   pull_request:
     branches:
-      - master
+      - main
 
 jobs:
   build-packages:

.github/workflows/cleanup.yml

@@ -1,11 +1,11 @@
 name: cleanup
 
-# triggered whenever a PR submitted to master is merged or closed
+# triggered whenever a PR submitted to main is merged or closed
 on:
   pull_request:
-    types: [closed]   
+    types: [closed]
     branches:
-      - master
+      - main
 
 jobs:
   build:
@@ -40,6 +40,6 @@ jobs:
         with:
           target_branch: gh-pages
           build_dir: ./
-          keep_history: false  
+          keep_history: false
         env:
-          GH_PAT: ${{ secrets.GH_PAT }}
+          GH_PAT: ${{ secrets.GH_PAT }}

.github/workflows/docs.yml

@@ -3,12 +3,12 @@ name: docs
 on:
   push:
     branches:
-      - master
+      - main
     tags:
       - 'v*'
   pull_request:
     branches:
-      - master
+      - main
 
 jobs:
   build:
@@ -35,7 +35,7 @@ jobs:
         run: |
           invoke docs
           # Get branch/tag/latest name from git
-          GITHUB_REF_REGEX="tags/v[0-9]{1,2}\.[0-9]{1,2}\.[0-9]{1,2}|(pull/[0-9]+)|heads/master"
+          GITHUB_REF_REGEX="tags/v[0-9]{1,2}\.[0-9]{1,2}\.[0-9]{1,2}|(pull/[0-9]+)|heads/main"
           if [[ $GITHUB_REF =~ $GITHUB_REF_REGEX ]]; then
               if [[ $BASH_REMATCH = pull* ]]; then
                   echo This is a pull request
@@ -44,13 +44,13 @@ jobs:
                   echo This is a version tag
                   FOLDER_NAME=${BASH_REMATCH##*/v}
               else
-                  echo This is a commit to master branch
+                  echo This is a commit to main branch
                   FOLDER_NAME=latest
               fi;
           fi;
           echo "Docs will be deployed to https://compas.dev/compas/$FOLDER_NAME"
           mkdir -p deploy/$BRANCH_OR_TAG && mv -T dist/docs deploy/$FOLDER_NAME/
-          
+
       - name: Deploy docs
         if: success() && env.GH_PAT != ''
         uses: crazy-max/ghaction-github-pages@v2
@@ -77,9 +77,9 @@ jobs:
         run: |
           >doc_versions.txt
           for folder in $(ls -rd */ | tr -d '/')
-          do 
+          do
               if [[ $folder =~ ^[0-9]{1,2}\.[0-9]{1,2}\.[0-9]{1,2}$|^latest$ ]]
-              then 
+              then
                   echo ${folder}  >> doc_versions.txt
               fi
           done
@@ -92,6 +92,6 @@ jobs:
         with:
           target_branch: gh-pages
           build_dir: ./
-          keep_history: false  
+          keep_history: false
         env:
           GH_PAT: ${{ secrets.GH_PAT }}

.github/workflows/ironpython.yml

@@ -3,10 +3,10 @@ name: ironpython
 on:
   push:
     branches:
-      - master
+      - main
   pull_request:
     branches:
-      - master
+      - main
 
 jobs:
   build:

CHANGELOG.md

@@ -14,12 +14,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 * Fixed bug in parameter list of function `mesh_bounding_box` bound as method `Mesh.bounding_box`.
+* Fixed bug in `RobotModel/RobotModelArtist.update` which raised an error when the geometry had not been loaded.
 * Changed exception type when subdivide scheme argument is incorrect on `mesh_subdivide`.
 * The `compas_rhino.artist.RobotModelArtist` functions `draw_visual` and `draw_collision` now return list of newly created Rhino object guids.
 * Added ability of `RobotModel.add_link` to accept primitives in addition to meshes.
 * Fixed bug regarding the computation of `Joint.current_origin`.
 * Fixed bug regarding a repeated call to `RobotModel.add_joint`.
 * Fixed bug in :class:`compas_blender.RobotModelArtist.update`.
+* Fixed bug in `compas.datastructures.mesh_slice_plane`.
 
 ### Removed
 

docs/conf.py

@@ -320,7 +320,7 @@ def linkcode_resolve(domain, info):
     else:
         return None
 
-    return f"https://github.com/compas-dev/compas/blob/master/src/{filename}.py#L{lineno}"
+    return f"https://github.com/compas-dev/compas/blob/main/src/{filename}.py#L{lineno}"
 
 # extlinks
 

src/compas/__init__.py

@@ -65,7 +65,7 @@
 
     if os.path.exists(git_head_file):
         # git head file contains one line that looks like this:
-        # ref: refs/heads/master
+        # ref: refs/heads/main
         with open(git_head_file, 'r') as git_head:
             _, ref_path = git_head.read().strip().split(' ')
             ref_path = ref_path.split('/')
@@ -149,7 +149,7 @@ def get(filename):
     This folder is only locally available if you installed **COMPAS** from source,
     or if you are working directly with the source.
     In all other cases, the function will get the corresponding files directly from
-    the GitHub repo, at https://raw.githubusercontent.com/compas-dev/compas/master/data
+    the GitHub repo, at https://raw.githubusercontent.com/compas-dev/compas/main/data
 
     Examples
     --------
@@ -174,7 +174,7 @@ def get(filename):
     if os.path.exists(localpath):
         return localpath
     else:
-        return "https://github.com/compas-dev/compas/raw/master/data/{}".format(filename)
+        return "https://github.com/compas-dev/compas/raw/main/data/{}".format(filename)
 
 
 def get_bunny(localstorage=None):

src/compas/datastructures/mesh/slice.py

@@ -90,7 +90,7 @@ def positive(self):
         vdict = {key: self.mesh.vertex_coordinates(key) for key in vertices + self.intersections}
         fdict = [self.mesh.face_vertices(fkey) for fkey in faces]
         mesh = self.meshtype.from_vertices_and_faces(vdict, fdict)
-        mesh.add_face(mesh.vertices_on_boundary(True))
+        mesh.add_face(mesh.vertices_on_boundary())
         return mesh
 
     def is_positive(self, key):
@@ -119,7 +119,7 @@ def negative(self):
         vdict = {key: self.mesh.vertex_coordinates(key) for key in vertices + self.intersections}
         fdict = [self.mesh.face_vertices(fkey) for fkey in faces]
         mesh = self.meshtype.from_vertices_and_faces(vdict, fdict)
-        mesh.add_face(mesh.vertices_on_boundary(True))
+        mesh.add_face(mesh.vertices_on_boundary())
         return mesh
 
     def is_negative(self, key):

src/compas/robots/base_artist/_artist.py

@@ -217,8 +217,11 @@ def _apply_transformation_on_transformed_link(self, item, transformation):
         -------
         None
         """
-        relative_transformation = transformation * item.current_transformation.inverse()
-        for native_geometry in item.native_geometry:
+        if getattr(item, 'current_transformation'):
+            relative_transformation = transformation * item.current_transformation.inverse()
+        else:
+            relative_transformation = transformation
+        for native_geometry in item.native_geometry or []:
             self.transform(native_geometry, relative_transformation)
         item.current_transformation = transformation
 

src/compas/robots/resources/github.py

@@ -26,12 +26,12 @@ class GithubPackageMeshLoader(AbstractMeshLoader):
         Name of the support package containing URDF, Meshes
         and additional assets, e.g. 'abb_irb4400_support'
     branch : str
-        Branch name, defaults to ``master``.
+        Branch name, defaults to ``main``.
     """
 
     HOST = 'https://raw.githubusercontent.com'
 
-    def __init__(self, repository, support_package, branch='master'):
+    def __init__(self, repository, support_package, branch='main'):
         super(GithubPackageMeshLoader, self).__init__()
         self.repository = repository
         self.support_package = support_package