Merge branch 'master' into robots_constraints_docs

Author: beverlylytle

.deepsource.toml

@@ -1,6 +1,6 @@
 version = 1
 
-test_patterns = ["*/tests/**"]
+test_patterns = ["tests/**"]
 
 [[analyzers]]
 name = "python"

.github/workflows/build.yml

@@ -0,0 +1,46 @@
+name: build
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        name: [
+          "windows-py38",
+          "macos-py37",
+          "ubuntu-py36",
+        ]
+        include:
+          - name: "windows-py38"
+            os: windows-latest
+            python-version: 3.8
+          - name: "macos-py37"
+            os: macos-latest
+            python-version: 3.7
+          - name: "ubuntu-py36"
+            os: ubuntu-latest
+            python-version: 3.6
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install cython --install-option="--no-cython-compile"
+      - name: Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+      - name: Run tests
+        run: |
+          invoke test

.github/workflows/integration.yml

@@ -0,0 +1,46 @@
+name: integration
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    name: ubuntu-py38-integration
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Set up docker containers
+        run: |
+          docker run -p 19997:19997 --name vrep_rfl -d gramaziokohler/vrep-rfl
+          docker-compose -f "docs/backends/files/ur5-demo/docker-compose.yml" up -d --build
+          docker ps -a
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install cython --install-option="--no-cython-compile"
+      - name: Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+      - name: Run linter
+        run: |
+          invoke lint
+      - name: Run integration tests
+        run: |
+          invoke test --doctest --codeblock
+      - name: Tear down docker containers
+        run: |
+          docker-compose -f "docs/backends/files/ur5-demo/docker-compose.yml" down
+          docker rm -f vrep_rfl
+      - name: Generate docs
+        if: ${{ success() }}
+        run: |
+          invoke docs

.github/workflows/ironpython.yml

@@ -0,0 +1,27 @@
+name: ironpython
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    name: windows-ironpython
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Setting IronPython path
+        run: echo "::set-env name=IRONPYTHONPATH::$env:GITHUB_WORKSPACE/src"
+      - name: Install dependencies
+        run: |
+          choco install ironpython --version=2.7.8.1
+          ipy -X:Frames -m ensurepip
+          ipy -X:Frames -m pip install --no-deps compas roslibpy
+          ipy -X:Frames -m pip install ironpython-pytest
+      - name: Run tests
+        run: |
+          ipy tests/ipy_test_runner.py

.gitignore

@@ -85,6 +85,9 @@ celerybeat-schedule
 venv/
 ENV/
 
+# Pycharm project settings
+.idea/
+
 # Spyder project settings
 .spyderproject
 .spyproject
@@ -106,6 +109,7 @@ ENV/
 # ------------------------------------------------------------------------------
 
 docs/reference/generated/
+docs/generated/
 
 *.3dmbak
 *.rhl

.travis.yml

@@ -18,7 +18,9 @@ If you use COMPAS FAB in a project, please use the following citation:
             Gandia, A. and
             Ma, Z. and
             Ariza, I. and
-            Pacher, M.
+            Pacher, M. and
+            Lytle, B. and
+            Huang, Y.
             },
         howpublished={https://github.com/compas-dev/compas\_fab/},
         note={Gramazio Kohler Research, ETH Z\"{u}rich},
@@ -41,3 +43,5 @@ Authors
 * Zhao Ma <[email protected]> `@xarthurx <https://github.com/xarthurx>`_
 * Inés Ariza <[email protected]> `@inesariza <https://github.com/inesariza>`_
 * Matteo Pacher <[email protected]> `@matteo-pacher <https://github.com/matteo-pacher>`_
+* Beverly Lytle <[email protected]> `@beverlylytle <https://github.com/beverlylytle>`_
+* Yijiang Huang <[email protected]> `@yijiangh <https://github.com/yijiangh>`_

AUTHORS.rst

@@ -13,10 +13,23 @@ Unreleased
 
 **Added**
 
+* Added ``ClientInterface``, ``PlannerInterface`` and various backend feature interfaces
+* Added implementations of these interfaces for ROS and V-REP
+* Added client for PyBullet
+
 **Changed**
 
+* Updated to ``COMPAS 0.16.1``
+* Renamed ``compas_fab.robots.Robot.to_local_coords`` to ``compas_fab.robots.Robot.to_local_coordinates``
+* Renamed ``compas_fab.robots.Robot.to_world_coords`` to ``compas_fab.robots.Robot.to_world_coordinates``
+* Backend clients have been restructured according to the new interfaces
+* The signatures of all kinematics, motion planning and planning scene management methods have been homogenized across backend clients and within ``Robot``
+* All examples have been updated to reflect these changes
+
 **Fixed**
 
+* Attached collision meshes are included in inverse kinematics calculations in ROS
+
 **Deprecated**
 
 **Removed**
@@ -43,9 +56,9 @@ Unreleased
 * ``MoveItPlanner``: ``inverse_kinematics`` takes now instance of ``Configuration`` and ``robot``
 * Property :class:`compas_fab.robots.Robot.artist` does not try to scale robot
   geometry if links and/or joints are not defined.
-* In :class:``compas_fab.robots.constraints.JointConstraint``, added ``tolerance_above`` and
+* In :class:`compas_fab.robots.constraints.JointConstraint`, added ``tolerance_above`` and
   ``tolerance_below`` for allowing asymmetrical constraints.
-* In :class:``compas_fab.robots.Robot``, changed the ``constraints_from_configuration``
+* In :class:`compas_fab.robots.Robot`, changed the ``constraints_from_configuration``
   function with ``tolerances_above`` and ``tolerances_below``.
 * :meth:`compas_fab.robots.CollisionMesh.scale` now takes a scale factor
   instead of a :class:`compas.geometry.Scale` instance as an argument.
@@ -82,7 +95,7 @@ Unreleased
 * Added ``attach_tool``, ``detach_tool``, ``draw_attached_tool``, ``from_tool0_to_attached_tool`` and ``from_attached_tool_to_tool0`` to ``Robot``
 * Added ``attach_tool`` and ``detach_tool`` to ``Artist``
 * Added ``add_attached_tool`` and ``remove_attached_tool`` to ``PlanningScene``
-* Added redraw/clear layer support to `RobotArtist` for Rhino
+* Added redraw/clear layer support to :class:`~compas_fab.rhino.RobotArtist` for Rhino
 * Added material/color support for DAE files on ROS file loader
 
 **Changed**
@@ -92,7 +105,7 @@ Unreleased
 **Fixed**
 
 * Fixed mutable init parameters of ``Configuration``, ``JointTrajectoryPoint``, ``JointTrajectory`` and ``Robot.basic``.
-* Fixed interface of `RobotArtist` for Blender
+* Fixed interface of :class:`~compas_fab.blender.RobotArtist` for Blender
 * Fixed DAE parsing of meshes with multiple triangle sets
 
 0.9.0
@@ -220,7 +233,7 @@ Unreleased
 
 **Deprecated**
 
-* The aliases for ``Frame`` and ``Transformation`` will be removed, in the future, import directly from `compas` core.
+* The aliases for ``Frame`` and ``Transformation`` will be removed, in the future, import directly from ``compas`` core.
 
 0.4.0
 ----------

CHANGELOG.rst

@@ -58,11 +58,9 @@ We could always use more documentation, whether as part of the
 introduction/examples/usage documentation or API documentation in docstrings.
 
 Documentation is written in `reStructuredText <http://docutils.sourceforge.net/rst.html>`_
-and use `Sphinx <http://sphinx-doc.org/index.html>`_ to generate the HTML output.
-
-The project uses Numpy style docstrings, see 
-`Sphinx extension Napoleon's documentation <https://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_numpy.html>`_
-for examples.
+and use `Sphinx <http://sphinx-doc.org/index.html>`_ with
+`numpy-style docstrings <https://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_numpy.html>`_
+to generate the HTML output.
 
 Once you made the documentation changes locally, run the documentation generation::
 
@@ -88,3 +86,10 @@ The best way to send feedback is to file an issue on
 
 * Explain in detail how it would work.
 * Keep the scope as narrow as possible, to make it easier to implement.
+
+A Note on Architecture for Backend Clients
+------------------------------------------
+
+To maintain consistency from one backend client to another and to promote modularity,
+we make use of several interfaces.  Please reference :ref:`Note on Architecture <architecture>`
+for more details on how to add or amend a backend client.