Merge pull request #82 from compas-dev/bump-to-compas-0.10.0

Bump dependency to compas 0.10.0

Author: gonzalocasas

CHANGELOG.rst

@@ -16,6 +16,8 @@ Unreleased
 
 **Changed**
 
+* Updated to COMPAS 0.10
+
 **Removed**
 
 **Fixed**

docs/examples/01_fundamentals/01_frame_and_transformation.rst

@@ -33,7 +33,7 @@ coordinate system.
     # point in F (local coordinates)
     P = Point(35., 35., 35.)
     # point in global (world) coordinates
-    P_ = F.represent_point_in_global_coordinates(P)
+    P_ = F.to_world_coords(P)
 
 
 Industrial robots do not have a common way of describing the pose orientation.

docs/examples/01_fundamentals/02_coordinate_frames.rst

@@ -112,10 +112,10 @@ before sending it as a target pose to the robot.
     frame_WCF = Frame(point, xaxis, yaxis)
     print("frame in WCF", frame_WCF)
 
-    frame_RCF = robot.represent_frame_in_RCF(frame_WCF)
+    frame_RCF = robot.to_local_coords(frame_WCF)
     print("frame in RCF", frame_RCF)
 
-    frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+    frame_WCF = robot.to_world_coords(frame_RCF)
     print("frame in WCF", frame_WCF)
 
 Links

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

@@ -5,7 +5,7 @@
 configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
 frame_RCF = robot.forward_kinematics(configuration)
-frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+frame_WCF = robot.to_world_coords(frame_RCF)
 
 print("Frame in the robot's coordinate system")
 print(frame_RCF)

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

@@ -7,7 +7,7 @@
     configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
     frame_RCF = robot.forward_kinematics(configuration)
-    frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+    frame_WCF = robot.to_world_coords(frame_RCF)
 
     print("Frame in the robot's coordinate system")
     print(frame_RCF)

docs/examples/03_backends_ros/files/robot.ghx

@@ -1298,7 +1298,7 @@ if robot and configuration:
         frames = draw_pipes(pipes, cap=1)
 
     ee_frame_RCF = robot.forward_kinematics(configuration, backend='model')
-    ee_frame = robot.represent_frame_in_WCF(ee_frame_RCF)
+    ee_frame = robot.to_world_coords(ee_frame_RCF)
     ee_plane = draw_frame(ee_frame)
 
     print("End-effector frame:")
@@ -5236,7 +5236,7 @@ if robot:
 
 if sc.sticky[response_key]:
     frame_RCF = sc.sticky[response_key]
-    frame_WCF = robot.represent_frame_in_WCF(frame_RCF, group)
+    frame_WCF = robot.to_world_coords(frame_RCF, group)
 
 print frame_WCF</item>
                     <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
@@ -14730,4 +14730,4 @@ print joint_positions</item>
       </items>
     </chunk>
   </chunks>
-</Archive>
+</Archive>

setup.py

@@ -11,7 +11,7 @@
 
 requirements = [
     # Until COMPAS reaches 1.0, we pin major.minor and allow patch version updates
-    'compas>=0.8.1,<0.9',
+    'compas>=0.10,<0.11',
     'roslibpy>=0.7',
     'pyserial',
 ]

src/compas_fab/robots/constraints.py

@@ -226,7 +226,14 @@ def __init__(self, link_name, quaternion, tolerances=None, weight=1.):
     def transform(self, transformation):
         R = Rotation.from_quaternion(self.quaternion)
         R = transformation * R
-        self.quaternion = R.rotation.quaternion
+
+        # Due to a bug on COMPAS 0.10.0
+        # (Fixed on https://github.com/compas-dev/compas/pull/378 but not released atm)
+        # we work around the retrival of the rotation component of R and instead decompose and get it
+        _, _, r, _, _ = R.decomposed()
+        self.quaternion = r.quaternion
+        # After that bug fix is released, the previous two lines should be changed to:
+        # self.quaternion = R.rotation.quaternion
 
     def __repr__(self):
         return "OrientationConstraint('{0}', {1}, {2}, {3})".format(self.link_name, self.quaternion, self.tolerances, self.weight)

src/compas_fab/robots/robot.py

@@ -287,7 +287,7 @@ def _get_current_base_frame(self, full_configuration, group):
             base_frame_WCF = Frame.worldXY()
         else:
             base_frame_WCF = self.model.forward_kinematics(joint_state, link_name=base_link.name)
-        base_frame_RCF = self.represent_frame_in_RCF(base_frame_WCF, group)
+        base_frame_RCF = self.to_local_coords(base_frame_WCF, group)
 
         base_frame_RCF.point *= self.scale_factor
         T = Transformation.from_frame(base_frame)
@@ -561,7 +561,7 @@ def transformation_RCF_WCF(self, group=None):
 
         """
         base_frame = self.get_base_frame(group)
-        return Transformation.from_frame_to_frame(Frame.worldXY(), base_frame)
+        return Transformation.change_basis(base_frame, Frame.worldXY())
 
     def _get_current_transformation_WCF_RCF(self, full_configuration, group):
         """Returns the group's current WCF to RCF transformation, if the robot is in full_configuration.
@@ -602,7 +602,7 @@ def transformation_WCF_RCF(self, group=None):
 
         """
         base_frame = self.get_base_frame(group)
-        return Transformation.from_frame_to_frame(base_frame, Frame.worldXY())
+        return Transformation.change_basis(Frame.worldXY(), base_frame)
 
     def set_RCF(self, robot_coordinate_frame, group=None):
         """Moves the origin frame of the robot to the robot_coordinate_frame.
@@ -615,7 +615,7 @@ def get_RCF(self, group=None):
         """
         return self.get_base_frame(group)
 
-    def represent_frame_in_RCF(self, frame_WCF, group=None):
+    def to_local_coords(self, frame_WCF, group=None):
         """Represents a frame from the world coordinate system (WCF) in the robot's coordinate system (RCF).
 
         Parameters
@@ -631,12 +631,14 @@ def represent_frame_in_RCF(self, frame_WCF, group=None):
         Examples
         --------
         >>> frame_WCF = Frame([-0.363, 0.003, -0.147], [0.388, -0.351, -0.852], [0.276, 0.926, -0.256])
-        >>> frame_RCF = robot.represent_frame_in_RCF(frame_WCF)
+        >>> frame_RCF = robot.to_local_coords(frame_WCF)
+        >>> frame_RCF
+        Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))
         """
         frame_RCF = frame_WCF.transformed(self.transformation_WCF_RCF(group))
         return frame_RCF
 
-    def represent_frame_in_WCF(self, frame_RCF, group=None):
+    def to_world_coords(self, frame_RCF, group=None):
         """Represents a frame from the robot's coordinate system (RCF) in the world coordinate system (WCF).
 
         Parameters
@@ -652,7 +654,9 @@ def represent_frame_in_WCF(self, frame_RCF, group=None):
         Examples
         --------
         >>> frame_RCF = Frame([-0.363, 0.003, -0.147], [0.388, -0.351, -0.852], [0.276, 0.926, -0.256])
-        >>> frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+        >>> frame_WCF = robot.to_world_coords(frame_RCF)
+        >>> frame_WCF
+        Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))
         """
         frame_WCF = frame_RCF.transformed(self.transformation_RCF_WCF(group))
         return frame_WCF
@@ -899,7 +903,7 @@ def inverse_kinematics(self, frame_WCF, start_configuration=None,
             start_configuration)
 
         # represent in RCF
-        frame_RCF = self.represent_frame_in_RCF(frame_WCF, group)
+        frame_RCF = self.to_local_coords(frame_WCF, group)
         frame_RCF.point /= self.scale_factor  # must be in meters
 
         joint_positions = self.client.inverse_kinematics(frame_RCF, base_link,
@@ -943,7 +947,7 @@ def forward_kinematics(self, configuration, group=None, backend=None, link_name=
         >>> frame_RCF_m = robot.forward_kinematics(configuration, group, backend='model')
         >>> frame_RCF_c == frame_RCF_m
         True
-        >>> frame_WCF = robot.represent_frame_in_WCF(frame_RCF_m, group)
+        >>> frame_WCF = robot.to_world_coords(frame_RCF_m, group)
         >>> frame_WCF
         Frame(Point(0.300, 0.100, 0.500), Vector(1.000, -0.000, -0.000), Vector(0.000, 1.000, -0.000))
 
@@ -973,10 +977,10 @@ def forward_kinematics(self, configuration, group=None, backend=None, link_name=
                 frame_RCF.point *= self.scale_factor
             else:
                 frame_WCF = self.model.forward_kinematics(group_joint_state, link_name)
-                frame_RCF = self.represent_frame_in_RCF(frame_WCF, group)
+                frame_RCF = self.to_local_coords(frame_WCF, group)
         elif backend == 'model':
             frame_WCF = self.model.forward_kinematics(group_joint_state, link_name)
-            frame_RCF = self.represent_frame_in_RCF(frame_WCF, group)
+            frame_RCF = self.to_local_coords(frame_WCF, group)
         else:
             # pass to backend, kdl, ikfast,...
             raise NotImplementedError
@@ -1068,7 +1072,7 @@ def plan_cartesian_motion(self, frames_WCF, start_configuration=None,
         frames_RCF = []
         for frame_WCF in frames_WCF:
             # represent in RCF
-            frame_RCF = self.represent_frame_in_RCF(frame_WCF, group)
+            frame_RCF = self.to_local_coords(frame_WCF, group)
             frame_RCF.point /= self.scale_factor
             frames_RCF.append(frame_RCF)
         base_link = self.get_base_link_name(group)