Merge pull request #152 from compas-dev/bump-compas-0.15

Bump dependency to COMPAS 0.15.6

Author: gonzalocasas

.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

CHANGELOG.rst

@@ -20,6 +20,7 @@ Unreleased
 
 **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``
@@ -54,7 +55,7 @@ Unreleased
 
 **Changed**
 
-* Updated to COMPAS 0.13
+* Updated to ``COMPAS 0.13``
 
 0.10.1
 ----------
@@ -96,14 +97,14 @@ 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 +222,7 @@ Unreleased
 
 **Changed**
 
-* Updated to COMPAS 0.4.10
+* Updated to ``COMPAS 0.4.10``
 
 0.3.0
 ----------
@@ -235,7 +236,7 @@ Unreleased
 **Changed**
 
 * Renamed ``UrdfImporter`` to ``RosFileServerLoader``
-* Updated to COMPAS 0.4.8
+* Updated to ``COMPAS 0.4.8``
 
 0.2.1
 ----------
@@ -251,7 +252,7 @@ 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
 -----

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]

docs/examples/03_backends_ros/files/02_forward_kinematics.py

@@ -8,3 +8,5 @@
 
 print("Frame in the world coordinate system")
 print(frame_WCF)
+
+assert str(frame_WCF.point) == 'Point(0.300, 0.100, 0.500)'

docs/examples/04_backends_vrep/01_simulation_with_vrep.rst

@@ -92,6 +92,8 @@ that there is at least one valid configuration to reach the goal pose.
     with VrepClient() as client:
         robot = rfl.Robot('B')
         configs = client.inverse_kinematics(robot, goal_pose)
+
+        assert len(configs) > 0, 'No IK solution found'
         print('Found valid configuration: ', str(configs[-1]))
 
 Basic path planning example

docs/examples/04_backends_vrep/files/01_complete_path_planning_example.py

@@ -36,3 +36,5 @@
                               shallow_state_search=fast_search)
 
     print('Found path of %d steps' % len(path))
+
+    assert len(path) > 0, 'Path should not be empty'