Merge branch 'master' of github.com:compas-dev/compas_fab into robots_planning_scene_docs

Author: tetov

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.10.2
+current_version = 0.11.0
 message = Bump version to {new_version}
 commit = True
 tag = True

.deepsource.toml

@@ -0,0 +1,14 @@
+version = 1
+
+test_patterns = ["*/tests/**"]
+
+[[analyzers]]
+name = "python"
+enabled = true
+
+  [analyzers.meta]
+  runtime_version = "3.x.x"
+
+[[analyzers]]
+name = "test-coverage"
+enabled = true

.github/pull_request_template.md

@@ -15,7 +15,7 @@ _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 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 have added tests that prove my fix is effective or that my feature works.
 - [ ] I have added necessary documentation (if appropriate)

.travis.yml

@@ -1,66 +1,84 @@
-# Base language is Python, but that does not work on macOs & Windows builds
-language: python
+# Based on https://docs.travis-ci.com/user/languages/python/#running-python-tests-on-multiple-operating-systems
+language: python            # this works for Linux but is an error on macOS or Windows
 
-matrix:
+jobs:
   include:
-    - name: "Python 2.7: Windows"
-      os: windows
-      language: shell
-      before_install:
-        - choco install python2 vcredist2008
-        - choco install --ignore-dependencies vcpython27
-      env:
-        - PATH=/c/Python27:/c/Python27/Scripts:$PATH
-        - TRAVIS_PYTHON_VERSION=2.7
-    - name: "Python 3.7: Windows"
-      os: windows
-      language: shell
-      before_install:
-        - choco install python3 --version=3.7.4
-      env:
-        - PATH=/c/Python37:/c/Python37/Scripts:$PATH
-        - TRAVIS_PYTHON_VERSION=3.7
-    - name: "Python 3.7: Xenial Linux"
-      python: 3.7
-      dist: xenial
-      # Pytest doctests are only enabled for Linux
-      # because they are integration tests and need ROS running on Docker
+    # Latest python releases on all 3 OSes
+    - name: "Python 3.8 on Xenial Linux"
+      python: 3.8           # this works for Linux but is ignored on macOS or Windows
       env:
-        - TRAVIS_PYTHON_VERSION=3.7
-        - PYTEST_ADDOPTS=--doctest-modules
+        - TRAVIS_RUN_LINTER=true
+        - TRAVIS_RUN_INTEGRATION_TESTS=true
         - TRAVIS_GENERATE_DOCS=true
+        - TRAVIS_PYTHON_IMPLEMENTATION="cpython"
       services: docker
-      before_install:
+      before_script:
         - 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
       after_script:
         - docker-compose -f "docs/backends/files/ur5-demo/docker-compose.yml" down
         - docker rm -f vrep_rfl
-    - name: "Python 3.7: macOS"
+    - name: "Python 3.7 on macOS"
       os: osx
-      osx_image: xcode11.2
+      osx_image: xcode11.2  # Python 3.7.4 running on macOS 10.14.4
+      language: shell       # 'language: python' is an error on Travis CI macOS
+      env:
+        - TRAVIS_PYTHON_IMPLEMENTATION="cpython"
+    - name: "Python 3.8 on Windows"
+      os: windows           # Windows 10.0.17134 N/A Build 17134
+      language: shell       # 'language: python' is an error on Travis CI Windows
+      before_install:
+        - choco install python --version=3.8.0
+        - pip3 install --user --upgrade pip
+        - pip3 install cython --install-option="--no-cython-compile"
+      env:
+        - PATH=/c/Python38:/c/Python38/Scripts:$PATH
+        - TRAVIS_PYTHON_IMPLEMENTATION="cpython"
+    # Older Python releases
+    - name: "Python 3.6 on Xenial Linux"
+      python: 3.6
+      env:
+        - TRAVIS_PYTHON_IMPLEMENTATION="cpython"
+    # IronPython monstrosity
+    - name: "IronPython 2.7: Windows"
+      os: windows
       language: shell
-      env: TRAVIS_PYTHON_VERSION=3.7
+      before_install:
+        - choco install ironpython --version=2.7.8.1
+        - ipy -X:Frames -m ensurepip
+        - ipy -X:Frames -m pip install --no-deps compas roslibpy
+        - ipy -X:Frames -m pip install ironpython-pytest
+      script:
+        - ipy tests/ipy_test_runner.py
+      env:
+        - TRAVIS_PYTHON_IMPLEMENTATION="ironpython"
+        - IRONPYTHONPATH=$TRAVIS_BUILD_DIR/src
+
+
+# all three OSes agree about 'pip3'
+before_install:
+- if [[ "$TRAVIS_PYTHON_IMPLEMENTATION" == "cpython" ]]; then
+    pip3 install --upgrade pip;
+    pip3 install cython --install-option="--no-cython-compile";
+  fi
 
 install:
-  - pip3 install cython --install-option="--no-cython-compile" || pip install cython --install-option="--no-cython-compile"
-  - pip3 install --no-cache-dir -r requirements-dev.txt || pip install --no-cache-dir -r requirements-dev.txt
+- if [[ "$TRAVIS_PYTHON_IMPLEMENTATION" == "cpython" ]]; then
+    pip3 install --no-cache-dir -r requirements-dev.txt;
+  fi
 
 script:
-  # The following syntax with || is taken directly from Travis CI documentation:
-  # https://docs.travis-ci.com/user/languages/python/#running-python-tests-on-multiple-operating-systems
-  # 'python' points to Python 2.7 on macOS but points to Python 3.8 on Linux and Windows
-  # 'python3' is a 'command not found' error on Windows but 'py' works on Windows only
-  - python3 -c "import compas_fab" || python -c "import compas_fab"
-  - python3 -c "import compas_fab.backends" || python -c "import compas_fab.backends"
-  - python3 -c "from compas_fab.backends.vrep.remote_api import vrep" || python -c "from compas_fab.backends.vrep.remote_api import vrep"
-  - python3 -c "import compas_fab.robots" || python -c "import compas_fab.robots"
-  - python3 -c "import compas_fab.utilities" || python -c "import compas_fab.utilities"
-  - if [[ "$TRAVIS_PYTHON_VERSION" == "3.7" ]]; then
-      python3 -m invoke lint || python -m invoke lint;
-    fi
-  - python3 -m invoke test || python -m invoke test
-  - if [[ "$TRAVIS_GENERATE_DOCS" == "true" ]]; then
-      python3 -m invoke docs || python -m invoke docs;
-    fi
+- if [[ "$TRAVIS_RUN_LINTER" == "true" ]]; then
+    invoke lint;
+  fi
+- if [[ "$TRAVIS_RUN_INTEGRATION_TESTS" == "true" ]]; then
+    invoke test --doctest --codeblock;
+  else
+    invoke test;
+  fi;
+
+after_success:
+- if [[ "$TRAVIS_GENERATE_DOCS" == "true" ]]; then
+    invoke docs;
+  fi

AUTHORS.rst

@@ -22,7 +22,9 @@ If you use COMPAS FAB in a project, please use the following citation:
             },
         howpublished={https://github.com/compas-dev/compas\_fab/},
         note={Gramazio Kohler Research, ETH Z\"{u}rich},
-        year={2018}
+        year={2018},
+        doi={10.5281/zenodo.3469478},
+        url={https://doi.org/10.5281/zenodo.3469478},
     }
 
 Authors

CHANGELOG.rst

@@ -13,13 +13,27 @@ Unreleased
 
 **Added**
 
+**Changed**
+
+**Fixed**
+
+**Deprecated**
+
+**Removed**
+
+0.11.0
+----------
+
+**Added**
+
 * Added optional ``joint_names`` to ``Configuration``
 * Added ``Configuration.scaled``
 * Added ``full_joint_state`` to ``Robot.inverse_kinematics``
 * Added ``Semantics.get_all_configurable_joints``
 
 **Changed**
 
+* Updated to ``COMPAS 0.15``
 * Construct ``full_configuration`` with ``values``, ``types``, ``joint_names`` in ``Robot`` rather than in ``MoveItPlanner``
 * ``MoveItPlanner`` returns ``start_configuration`` with set ``joint_names``
 * Removed parameter ``names`` from ``RobotArtist.update``
@@ -36,15 +50,11 @@ Unreleased
 * :meth:`compas_fab.robots.CollisionMesh.scale` now takes a scale factor
   instead of a :class:`compas.geometry.Scale` instance as an argument.
 
-**Removed**
-
 **Fixed**
 
 * Convert constraints on inverse kinematics and cartesian planner to ROS messages
 * Fix support for trajectory constraints on kinematic planner
 
-**Deprecated**
-
 0.10.2
 ----------
 
@@ -54,7 +64,7 @@ Unreleased
 
 **Changed**
 
-* Updated to COMPAS 0.13
+* Updated to ``COMPAS 0.13``
 
 0.10.1
 ----------
@@ -96,14 +106,14 @@ Unreleased
 
 **Changed**
 
-* Updated to COMPAS 0.11
+* Updated to ``COMPAS 0.11``
 
 0.8.0
 ----------
 
 **Changed**
 
-* Updated to COMPAS 0.10
+* Updated to ``COMPAS 0.10``
 * Add better support for passive joints on IK, Cartesian and Kinematic planning
 
 **Fixed**
@@ -221,7 +231,7 @@ Unreleased
 
 **Changed**
 
-* Updated to COMPAS 0.4.10
+* Updated to ``COMPAS 0.4.10``
 
 0.3.0
 ----------
@@ -235,7 +245,7 @@ Unreleased
 **Changed**
 
 * Renamed ``UrdfImporter`` to ``RosFileServerLoader``
-* Updated to COMPAS 0.4.8
+* Updated to ``COMPAS 0.4.8``
 
 0.2.1
 ----------
@@ -251,7 +261,7 @@ Unreleased
 
 * First open source release!
 * V-REP and ROS clients
-* Updated to COMPAS 0.3.2
+* Updated to ``COMPAS 0.3.2``
 
 0.1.0
 -----

CONTRIBUTING.rst

@@ -60,6 +60,10 @@ 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.
+
 Once you made the documentation changes locally, run the documentation generation::
 
     invoke docs

docs/conf.py

@@ -29,7 +29,7 @@
 year = '2018'
 author = 'Gramazio Kohler Research'
 copyright = '{0}, {1}'.format(year, author)
-version = release = '0.10.2'
+version = release = '0.11.0'
 
 pygments_style = 'sphinx'
 show_authors = True

docs/examples/01_fundamentals/02_coordinate_frames.rst

@@ -103,7 +103,7 @@ before sending it as a target pose to the robot.
 
     robot = Robot(robot_model)
 
-    print("robot coordinate frame", robot.get_RCF())
+    print("robot coordinate frame (base)", robot.get_base_frame())
 
     point =  [6.0, 4.0, 2.0]
     xaxis =  [-1.0, 0.0, 0.0]
@@ -122,5 +122,4 @@ Links
 =====
 
 * `ROS REP-105: Coordinate Frames for Mobile Platforms <http://www.ros.org/reps/rep-0105.html#id15>`_
-* `ABB: What is a coordinate system? <http://developercenter.robotstudio.com/blobproxy/devcenter/RobotStudio/html/4eac08e9-c42c-446f-bbd4-228e523dd2d5.htm>`_
 

docs/examples/03_backends_ros/01_ros_examples.rst

@@ -17,7 +17,7 @@ First step
 The first step is to connect to ROS to verify that the system is working.
 
 Copy and paste the following example into any Python environment
-(a standalong script, a CAD environment, etc) and run it, you should
+(a standalone script, a CAD environment, etc) and run it, you should
 see the output ``Connected: True`` if everything is working properly:
 
 .. code-block:: python
@@ -95,7 +95,7 @@ Open a command prompt and start the talker:
 
 ::
 
-    python 01_ros_hello_world_listener.py
+    python 01_ros_hello_world_talker.py
 
 
 Now open a second command prompt and start the listener: