Merge pull request #280 from compas-dev/joint_config

beverlylytle · web-flow · commit 545fd51cac0e · 2021-03-29T13:24:49.000+02:00
Move Configuration to compas
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/CHANGELOG.rst b/CHANGELOG.rst
@@ -16,13 +16,17 @@ Unreleased
 
 **Changed**
 
+* The `Configuration` class has moved to `compas.robots`, but is still aliased within `compas_fab.robots`
+
 **Fixed**
 
 * Fix ``repr()`` of ``ROSmsg`` class
 * Fix data type of secs and nsecs in ``Time`` ROS message
 
 **Deprecated**
 
+* `compas_fab.robots.Configuration` is being deprecated in favor of `compas.robots.Configuration`
+
 **Removed**
 
 0.17.0
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/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',
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/vrep/client.py b/src/compas_fab/backends/vrep/client.py
@@ -209,6 +209,7 @@ 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
@@ -2,11 +2,11 @@
 
 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.backends.vrep.remote_api import vrep
 
-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
@@ -7,8 +7,7 @@
 
 import compas
 from compas.geometry import Transformation
-
-from compas_fab.robots import Configuration
+from compas.robots import Configuration
 
 if compas.RHINO:
     import clr
diff --git a/src/compas_fab/robots/__init__.py b/src/compas_fab/robots/__init__.py
@@ -17,7 +17,6 @@
 
     Robot
     RobotSemantics
-    Configuration
     Tool
     Duration
     Wrench
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()`