Merge pull request #457 from ebruun/ghpython_component_fix_bruun

ghpython vizualize trajectory component fix

Author: gonzalocasas

.github/workflows/integration.yml

@@ -31,6 +31,7 @@ jobs:
       - name: Install
         run: |
           python -m pip install --no-cache-dir -r requirements-dev.txt
+          pip install --no-cache-dir -e .
       - name: Run integration tests
         run: |
           pytest --doctest-modules

CHANGELOG.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 ### Changed
+* Replaced the deprecated `draw_frame` function with `frame_to_rhino_plane` in the *Visualize Trajectory* GhPython component to restore correct frame visualization.
 
 ### Removed
 

CONTRIBUTING.rst

@@ -12,13 +12,28 @@ We love pull requests from everyone! Here's a quick guide to improve the code:
 
 1. Fork `the repository <https://github.com/compas-dev/compas_fab>`_ and clone the fork.
 2. Create a virtual environment using your tool of choice (e.g. ``virtualenv``, ``conda``, etc).
-3. Install development dependencies:
+3. Install the development dependencies:
 
 ::
 
     pip install -r requirements-dev.txt
+    pip install -e .
 
-4. From the `compas_fab` directory, run the docker containers:
+.. note::
+
+   **Windows users:** The ``pybullet`` package often fails to build from source when installed
+   via ``pip`` due to missing C++ build tools.  
+   To avoid this, **comment out the ``pybullet`` line in ``requirements-dev.txt``** before running
+   ``pip install -r requirements-dev.txt`` and then install ``pybullet`` separately using:
+
+   ::
+
+       conda install -c conda-forge pybullet
+
+   This ensures that the precompiled conda-forge package is used instead of attempting
+   to compile ``pybullet`` from source.
+
+1. From the `compas_fab` directory, run the docker containers:
 
 ::
 
@@ -30,6 +45,16 @@ We love pull requests from everyone! Here's a quick guide to improve the code:
 
     invoke test --doctest --codeblock
 
+.. note::
+
+   If you see the error ``No idea what '--codeblock' is!'', it means your version of the
+   task definitions does not support the ``--codeblock`` option.  
+   In that case, simply remove ``--codeblock`` and run:
+
+   ::
+
+       invoke test --doctest
+
 6. Start making your changes to the **main** branch (or branch off of it).
 7. Make sure all tests still pass:
 

src/compas_fab/ghpython/components/Cf_RosRobot/code.py

@@ -4,12 +4,11 @@
 COMPAS FAB v1.1.2
 """
 
+from compas.scene import SceneObject
 from compas_ghpython import create_id
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 
-from compas.scene import SceneObject
-
 
 class ROSRobot(component):
     def RunScript(self, ros_client, load):

src/compas_fab/ghpython/components/Cf_VisualizeRobot/code.py

@@ -6,14 +6,14 @@
 
 import time
 
+from compas.geometry import Frame
+from compas.geometry import Transformation
+from compas.scene import SceneObject
 from compas_ghpython import create_id
 from compas_rhino.conversions import frame_to_rhino_plane
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 
-from compas.geometry import Frame
-from compas.geometry import Transformation
-from compas.scene import SceneObject
 from compas_fab.backends import BackendFeatureNotSupportedError
 from compas_fab.robots import PlanningScene
 

src/compas_fab/ghpython/components/Cf_VisualizeTrajectory/code.py

@@ -4,8 +4,8 @@
 COMPAS FAB v1.1.2
 """
 
-from compas_ghpython import draw_frame
 from compas_ghpython.sets import list_to_ghtree
+from compas_rhino.conversions import frame_to_rhino_plane
 from ghpythonlib.componentbase import executingcomponent as component
 
 
@@ -29,7 +29,7 @@ def RunScript(self, robot, group, trajectory):
                     robot.merge_group_with_full_configuration(c, trajectory.start_configuration, group)
                 )
                 frame = robot.forward_kinematics(c, group, options=dict(solver="model"))
-                planes.append(draw_frame(frame))
+                planes.append(frame_to_rhino_plane(frame))
                 positions.append(c.positions)
                 velocities.append(c.velocities)
                 accelerations.append(c.accelerations)

src/compas_fab/ghpython/components_cpython/Cf_RosRobot/code.py

@@ -6,11 +6,10 @@
 """
 
 import Grasshopper
+from compas.scene import SceneObject
 from compas_ghpython import create_id
 from scriptcontext import sticky as st
 
-from compas.scene import SceneObject
-
 
 class ROSRobot(Grasshopper.Kernel.GH_ScriptInstance):
     def RunScript(self, ros_client, load):

src/compas_fab/ghpython/components_cpython/Cf_VisualizeRobot/code.py

@@ -8,13 +8,13 @@
 import time
 
 import Grasshopper
+from compas.geometry import Frame
+from compas.geometry import Transformation
+from compas.scene import SceneObject
 from compas_ghpython import create_id
 from compas_rhino.conversions import frame_to_rhino_plane
 from scriptcontext import sticky as st
 
-from compas.geometry import Frame
-from compas.geometry import Transformation
-from compas.scene import SceneObject
 from compas_fab.backends import BackendFeatureNotSupportedError
 from compas_fab.robots import PlanningScene
 

src/compas_fab/ghpython/reachabilitymapobject.py

@@ -1,7 +1,6 @@
-from compas_ghpython.scene import GHSceneObject
-
 from compas.colors import ColorMap
 from compas.scene import SceneObject
+from compas_ghpython.scene import GHSceneObject
 
 
 class ReachabilityMapObject(GHSceneObject):

src/compas_fab/rhino/reachabilitymapobject.py

@@ -1,7 +1,6 @@
-from compas_rhino.scene import RhinoSceneObject
-
 from compas.colors import ColorMap
 from compas.scene import SceneObject
+from compas_rhino.scene import RhinoSceneObject
 
 
 class ReachabilityMapObject(RhinoSceneObject):