Merge branch 'main' of https://github.com/compas-dev/compas_fab into lazyload-vrep

gonzalocasas · gonzalocasas · commit 23739034239e · 2021-04-10T11:35:34.000+02:00
diff --git a/.bumpversion.cfg b/.bumpversion.cfg
@@ -8,6 +8,10 @@ tag = True
 search = version = release = '{current_version}'
 replace = version = release = '{new_version}'
 
+[bumpversion:file:docs/getting_started.rst]
+search = {current_version}
+replace = {new_version}
+
 [bumpversion:file:docs/doc_versions.txt]
 search = {current_version}
 replace = {new_version}
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -16,6 +16,6 @@ _Put an `x` in the boxes that apply. You can also fill these out after creating
 - [ ] I added a line to the `CHANGELOG.rst` file in the `Unreleased` section under the most fitting heading (e.g. `Added`, `Changed`, `Removed`).
 - [ ] I ran all tests on my computer and it's all green (i.e. `invoke test`).
 - [ ] I ran lint on my computer and there are no errors (i.e. `invoke lint`).
-- [ ] I added new functions/classes and made them available on a second-level import, e.g. `compas_fab.robots.Configuration`.
+- [ ] I added new functions/classes and made them available on a second-level import, e.g. `compas_fab.robots.CollisionMesh`.
 - [ ] I have added tests that prove my fix is effective or that my feature works.
 - [ ] I have added necessary documentation (if appropriate)
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -17,6 +17,7 @@ jobs:
           "windows-py38",
           "macos-py37",
           "ubuntu-py36",
+          "ubuntu-py39",
         ]
         include:
           - name: "windows-py38"
@@ -28,6 +29,9 @@ jobs:
           - name: "ubuntu-py36"
             os: ubuntu-latest
             python-version: 3.6
+          - name: "ubuntu-py39"
+            os: ubuntu-latest
+            python-version: 3.9
     steps:
       - uses: actions/checkout@v2
       - name: Set up Python ${{ matrix.python-version }}
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -13,18 +13,24 @@ Unreleased
 **Added**
 
 * Added support for MoveIt on ROS Noetic
+* Added support for Python 3.9
 
 **Changed**
 
+* The `Configuration` class has moved to `compas.robots`, but is still aliased within `compas_fab.robots`
 * Lazily load `V-REP remoteApi` library
 
 **Fixed**
 
-* Fix ``repr()`` of ``ROSmsg`` class
-* Fix data type of secs and nsecs in ``Time`` ROS message
+* Fixed ``repr()`` of ``ROSmsg`` class
+* Fixed data type of secs and nsecs in ``Time`` ROS message
+* Fixed ``CollisionObject.to_collision_meshes``
+* Fixed serialization of joint names for ``compas_fab.robots.JointTrajectoryPoint``
 
 **Deprecated**
 
+* `compas_fab.robots.Configuration` is being deprecated in favor of `compas.robots.Configuration`
+
 **Removed**
 
 0.17.0
diff --git a/docs/conf.py b/docs/conf.py
@@ -92,6 +92,7 @@
 html_last_updated_fmt = '%b %d, %Y'
 html_copy_source = False
 html_show_sourcelink = False
+html_permalinks = False
 html_add_permalinks = ''
 html_experimental_html5_writer = True
 html_compact_lists = True
diff --git a/docs/examples/02_description_models/files/02_robot_artist_grasshopper.ghx b/docs/examples/02_description_models/files/02_robot_artist_grasshopper.ghx
@@ -502,7 +502,7 @@ robot = st[robot_key]
                 <chunk name="Container">
                   <items count="11">
                     <item name="CodeInput" type_name="gh_string" type_code="10">import math
-from compas_fab.robots import Configuration
+from compas.robots import Configuration
 
 if robot:
     joint_values = [a1, a2, a3, a4, a5, a6]
diff --git a/docs/examples/02_description_models/files/02_robot_artist_grasshopper_panda.ghx b/docs/examples/02_description_models/files/02_robot_artist_grasshopper_panda.ghx
@@ -497,7 +497,7 @@ robot = st[robot_key]
                 <chunk name="Container">
                   <items count="11">
                     <item name="CodeInput" type_name="gh_string" type_code="10">import math
-from compas_fab.robots import Configuration
+from compas.robots import Configuration
 
 if robot:
     joint_values = [a1, a2, a3, a4, a5, a6, a7]
@@ -2651,7 +2651,7 @@ W = 3</item>
                   <items count="11">
                     <item name="CodeInput" type_name="gh_string" type_code="10">import math
 from compas.robots import Joint
-from compas_fab.robots import Configuration
+from compas.robots import Configuration
 
 if robot:
     joint_values = [j1]
diff --git a/docs/examples/03_backends_ros/files/03_forward_kinematics.py b/docs/examples/03_backends_ros/files/03_forward_kinematics.py
@@ -1,5 +1,5 @@
+from compas.robots import Configuration
 from compas_fab.backends import RosClient
-from compas_fab.robots import Configuration
 
 with RosClient() as client:
     robot = client.load_robot()
diff --git a/docs/examples/03_backends_ros/files/03_forward_kinematics_urdf.py b/docs/examples/03_backends_ros/files/03_forward_kinematics_urdf.py
@@ -1,4 +1,4 @@
-from compas_fab.robots import Configuration
+from compas.robots import Configuration
 from compas_fab.robots.ur5 import Robot
 
 robot = Robot()
diff --git a/docs/examples/03_backends_ros/files/05_plan_cartesian_motion.py b/docs/examples/03_backends_ros/files/05_plan_cartesian_motion.py
@@ -2,10 +2,11 @@
 
 from compas.datastructures import Mesh
 from compas.geometry import Frame
+from compas.robots import Configuration
 
 import compas_fab
 from compas_fab.backends import RosClient
-from compas_fab.robots import Configuration, CollisionMesh, AttachedCollisionMesh
+from compas_fab.robots import CollisionMesh, AttachedCollisionMesh
 
 with RosClient() as client:
     robot = client.load_robot()
diff --git a/docs/examples/03_backends_ros/files/05_plan_motion.py b/docs/examples/03_backends_ros/files/05_plan_motion.py
@@ -1,6 +1,6 @@
 import math
 from compas.geometry import Frame
-from compas_fab.robots import Configuration
+from compas.robots import Configuration
 from compas_fab.backends import RosClient
 
 with RosClient() as client:
diff --git a/docs/examples/03_backends_ros/files/robot-playground.ghx b/docs/examples/03_backends_ros/files/robot-playground.ghx
@@ -833,7 +833,7 @@ unload_modules("roslibpy")</item>
                     <item name="CodeInput" type_name="gh_string" type_code="10">import math
 import Grasshopper
 from compas.robots import Joint
-from compas_fab.robots import Configuration
+from compas.robots import Configuration
 
 if set_joint_positions:
 
@@ -3048,7 +3048,7 @@ robot = st[robot_key]
               <chunks count="1">
                 <chunk name="Container">
                   <items count="11">
-                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas_fab.robots import Configuration
+                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas.robots import Configuration
 
 if robot:
     types = robot.get_configurable_joint_types()
@@ -3914,7 +3914,7 @@ print planes</item>
               <chunks count="1">
                 <chunk name="Container">
                   <items count="11">
-                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas_fab.robots import Configuration
+                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas.robots import Configuration
 
 if robot:
     types = robot.get_configurable_joint_types()
@@ -7162,7 +7162,7 @@ Add path constraints</item>
               <chunks count="1">
                 <chunk name="Container">
                   <items count="11">
-                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas_fab.robots import Configuration
+                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas.robots import Configuration
 
 if robot:
     types = robot.get_configurable_joint_types()
diff --git a/docs/examples/04_backends_vrep/01_simulation_with_vrep.rst b/docs/examples/04_backends_vrep/01_simulation_with_vrep.rst
@@ -52,6 +52,7 @@ forward kinematics:
 
 .. code-block:: python
 
+    from compas.robots import Configuration
     from compas_fab.robots import *
     from compas_fab.robots import rfl
     from compas_fab.backends import VrepClient
@@ -114,6 +115,7 @@ Here is an example of such a request:
 .. code-block:: python
 
     from compas.geometry import Frame
+    from compas.robots import Configuration
     from compas_fab.robots import *
     from compas_fab.robots import rfl
     from compas_fab.backends import VrepClient
diff --git a/docs/examples/05_backends_pybullet/files/02_forward_kinematics.py b/docs/examples/05_backends_pybullet/files/02_forward_kinematics.py
@@ -1,6 +1,6 @@
 import compas_fab
+from compas.robots import Configuration
 from compas_fab.backends import PyBulletClient
-from compas_fab.robots import Configuration
 
 with PyBulletClient() as client:
     urdf_filename = compas_fab.get('universal_robot/ur_description/urdf/ur5.urdf')
diff --git a/docs/getting_started.rst b/docs/getting_started.rst
@@ -4,45 +4,82 @@ Getting started
 
 .. highlight:: bash
 
-Installation
-============
+**COMPAS FAB** can be easily installed on multiple platforms,
+using popular package managers such as conda or pip.
 
-The recommended way to install **COMPAS FAB** is to use `Anaconda/conda <https://docs.conda.io/>`_:
+Install with conda
+==================
+
+The recommended way to install **COMPAS FAB** is with `conda <https://conda.io/docs/>`_.
+For example, create an environment named ``my-project`` and install COMPAS and COMPAS FAB.
 
 ::
 
-    conda install -c conda-forge compas_fab
+    conda config --add channels conda-forge
+    conda create -n my-project compas_fab
 
+Afterwards, simply activate the environment
+and run the following command to check if the installation process was successful.
 
-But it can also be installed using ``pip``:
+.. code-block:: bash
 
-::
+    conda activate my-project
+    python -c "import compas_fab; print(compas_fab.__version__)"
+
+.. code-block:: none
+
+    0.17.0
+
+You are ready to use **COMPAS FAB**!
+
+Installation options
+--------------------
+
+Install COMPAS FAB in an environment with a specific version of Python.
+
+.. code-block:: bash
+
+    conda create -n my-project python=3.8 compas_fab
+
+Install COMPAS FAB in an existing environment.
+
+.. code-block:: bash
+
+    conda install -n my-project compas_fab
+
+Install with pip
+================
+
+Install COMPAS FAB using ``pip`` from the Python Package Index.
+
+.. code-block:: bash
 
     pip install compas_fab
 
+Install an editable version from local source.
 
-.. note::
+.. code-block:: bash
 
-    On Windows, you may need to install
-    `Microsoft Visual C++ 14.0 <https://www.scivision.dev/python-windows-visual-c-14-required/>`_.
+    cd path/to/compas_fab
+    pip install -e .
 
+Note that installation with ``pip`` is also possible within a ``conda`` environment.
 
-Once the installation is completed, you can verify your setup.
-Start Python from the command prompt and run the following:
+.. code-block:: bash
 
-::
+    conda activate my-project
+    pip install -e .
 
-    >>> import compas_fab
+.. note::
 
-You are ready to use **COMPAS FAB**!
+    On Windows, you may need to install
+    `Microsoft Visual C++ 14.0 <https://www.scivision.dev/python-windows-visual-c-14-required/>`_.
 
-Update
-======
 
 Update with conda
------------------
+=================
 
-To update COMPAS to the latest version with ``conda``
+To update COMPAS FAB to the latest version with ``conda``
 
 .. code-block:: bash
 
@@ -52,13 +89,13 @@ To switch to a specific version
 
 .. code-block:: bash
 
-    conda install compas_fab=0.15.0
+    conda install compas_fab=0.17.0
 
 
 Update with pip
----------------
+===============
 
-If you installed COMPAS with ``pip`` the update command is the following
+If you installed COMPAS FAB with ``pip`` the update command is the following
 
 .. code-block:: bash
 
@@ -68,7 +105,7 @@ Or to switch to a specific version
 
 .. code-block:: bash
 
-    pip install compas_fab==0.15.0
+    pip install compas_fab==0.17.0
 
 
 Working in Rhino
diff --git a/setup.py b/setup.py
@@ -10,7 +10,7 @@
 from setuptools import find_packages, setup
 
 requirements = [
-    'compas>=1.1,<2.0',
+    'compas>=1.3,<2.0',
     'roslibpy>=1.1.0',
     'pybullet',
     'pyserial',
@@ -64,6 +64,7 @@ def read(*names, **kwargs):
         'Programming Language :: Python :: 3.6',
         'Programming Language :: Python :: 3.7',
         'Programming Language :: Python :: 3.8',
+        'Programming Language :: Python :: 3.9',
         'Programming Language :: Python :: Implementation :: CPython',
         'Programming Language :: Python :: Implementation :: IronPython',
         'Topic :: Scientific/Engineering',
diff --git a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py b/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py
@@ -4,6 +4,7 @@
 
 import itertools
 
+from compas.robots import Configuration
 from compas.utilities import await_callback
 
 from compas_fab.backends.interfaces import PlanCartesianMotion
@@ -19,7 +20,6 @@
 from compas_fab.backends.ros.messages import Pose
 from compas_fab.backends.ros.messages import RobotState
 from compas_fab.backends.ros.service_description import ServiceDescription
-from compas_fab.robots import Configuration
 from compas_fab.robots import JointTrajectory
 
 __all__ = [
diff --git a/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py b/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py
@@ -4,6 +4,7 @@
 
 import itertools
 
+from compas.robots import Configuration
 from compas.utilities import await_callback
 
 from compas_fab.backends.interfaces import PlanMotion
@@ -20,7 +21,6 @@
 from compas_fab.backends.ros.messages import TrajectoryConstraints
 from compas_fab.backends.ros.service_description import ServiceDescription
 from compas_fab.robots import JointTrajectory
-from compas_fab.robots import Configuration
 
 __all__ = [
     'MoveItPlanMotion'
diff --git a/src/compas_fab/backends/ros/messages/moveit_msgs.py b/src/compas_fab/backends/ros/messages/moveit_msgs.py
@@ -103,7 +103,7 @@ def to_collision_meshes(self):
                 vertex.x = float(vertex.x)
                 vertex.y = float(vertex.y)
                 vertex.z = float(vertex.z)
-            root_name = getattr(self.header, 'frame_id', self.header['frame_id'])
+            root_name = getattr(self.header, 'frame_id', None) or self.header['frame_id']
             cm = CollisionMesh(mesh.mesh, self.id, pose.frame, root_name)
             collision_meshes.append(cm)
         return collision_meshes
diff --git a/src/compas_fab/backends/vrep/client.py b/src/compas_fab/backends/vrep/client.py
@@ -211,6 +211,7 @@ def set_robot_config(self, robot, config):
 
         Examples:
 
+            >>> from compas.robots import Configuration
             >>> from compas_fab.robots import *
             >>> with VrepClient() as client:
             ...     config = Configuration.from_prismatic_and_revolute_values([7.600, -4.500, -5.500],
diff --git a/src/compas_fab/backends/vrep/helpers.py b/src/compas_fab/backends/vrep/helpers.py
@@ -2,9 +2,10 @@
 
 from compas.geometry import Frame
 from compas.geometry import matrix_from_frame
+from compas.robots import Configuration
 
 from compas_fab.backends.exceptions import BackendError
-from compas_fab.robots import Configuration
+
 
 __all__ = [
     'VrepError',
diff --git a/src/compas_fab/ghpython/path_planning.py b/src/compas_fab/ghpython/path_planning.py
diff --git a/src/compas_fab/robots/__init__.py b/src/compas_fab/robots/__init__.py
diff --git a/src/compas_fab/robots/configuration.py b/src/compas_fab/robots/configuration.py
diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
diff --git a/src/compas_fab/robots/trajectory.py b/src/compas_fab/robots/trajectory.py
diff --git a/tests/robots/test_configuration.py b/tests/robots/test_configuration.py
diff --git a/tests/robots/test_trajectory.py b/tests/robots/test_trajectory.py

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-from compas_fab.robots import Configuration`
	`1`	`+from compas.robots import Configuration`
`2`	`2`	`from compas_fab.robots.ur5 import Robot`
`3`	`3`
`4`	`4`	`robot = Robot()`