Merge branch 'master' into start_full_configuration

romanarust · web-flow · commit c7361e059b41 · 2020-03-26T22:56:48.000+01:00
diff --git a/.bumpversion.cfg b/.bumpversion.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.10.1
+current_version = 0.10.2
 message = Bump version to {new_version}
 commit = True
 tag = True
@@ -15,4 +15,3 @@ replace = __version__ = '{new_version}'
 [bumpversion:file:CHANGELOG.rst]
 search = Unreleased
 replace = {new_version}
-
diff --git a/.travis.yml b/.travis.yml
@@ -60,7 +60,7 @@ script:
   - if [[ "$TRAVIS_PYTHON_VERSION" == "3.7" ]]; then
       python3 -m invoke lint || python -m invoke lint;
     fi
-  - python3 -m invoke test --no-doctest || python -m invoke test --no-doctest
+  - python3 -m invoke test || python -m invoke test
   - if [[ "$TRAVIS_GENERATE_DOCS" == "true" ]]; then
       python3 -m invoke docs || python -m invoke docs;
     fi
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -27,13 +27,29 @@ Unreleased
 * ``Robot``: ``forward_kinematics`` returns now ``frame_WCF``
 * ``MoveItPlanner``: ``forward_kinematics`` takes now instance of ``Configuration`` and ``robot``
 * ``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.
 
 **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
+----------
+
+**Added**
+
+* Added Python 3.8 support
+
+**Changed**
+
+* Updated to COMPAS 0.13
+
 0.10.1
 ----------
 
diff --git a/docs/conf.py b/docs/conf.py
@@ -27,7 +27,7 @@
 year = '2018'
 author = 'Gramazio Kohler Research'
 copyright = '{0}, {1}'.format(year, author)
-version = release = '0.10.1'
+version = release = '0.10.2'
 
 pygments_style = 'sphinx'
 show_authors = True
diff --git a/pytest.ini b/pytest.ini
diff --git a/requirements-dev.txt b/requirements-dev.txt
@@ -7,6 +7,7 @@ flake8
 autopep8
 pylint
 pytest
+pytest-cov
 isort
 twine
 -e .
diff --git a/setup.cfg b/setup.cfg
@@ -17,7 +17,7 @@ exclude =
 convention = numpy
 
 [tool:pytest]
-testpaths = tests
+testpaths = src tests
 norecursedirs =
     migrations
 
@@ -28,9 +28,9 @@ python_files =
 addopts =
     -ra
     --strict
-    --doctest-modules
     --doctest-glob=\*.rst
     --tb=short
+doctest_optionflags= NORMALIZE_WHITESPACE IGNORE_EXCEPTION_DETAIL ALLOW_UNICODE ALLOW_BYTES
 
 [isort]
 force_single_line = True
@@ -40,3 +40,6 @@ default_section = THIRDPARTY
 forced_separate = test_compas_fab
 not_skip = __init__.py
 skip = migrations
+
+[coverage:run]
+branch = True
diff --git a/setup.py b/setup.py
@@ -11,7 +11,7 @@
 
 requirements = [
     # Until COMPAS reaches 1.0, we pin major.minor and allow patch version updates
-    'compas>=0.11,<0.12',
+    'compas>=0.11,<0.14',
     'roslibpy>=0.7.1',
     'pyserial',
 ]
@@ -63,6 +63,8 @@ def read(*names, **kwargs):
         'Programming Language :: Python :: 3.4',
         'Programming Language :: Python :: 3.5',
         'Programming Language :: Python :: 3.6',
+        'Programming Language :: Python :: 3.7',
+        'Programming Language :: Python :: 3.8',
         'Programming Language :: Python :: Implementation :: CPython',
         'Programming Language :: Python :: Implementation :: IronPython',
         'Topic :: Scientific/Engineering',
diff --git a/src/compas_fab/__version__.py b/src/compas_fab/__version__.py
@@ -1,7 +1,7 @@
 __title__ = 'compas_fab'
 __description__ = 'Robotic fabrication package for the COMPAS Framework'
 __url__ = 'https://github.com/compas-dev/compas_fab'
-__version__ = '0.10.1'
+__version__ = '0.10.2'
 __author__ = 'Gramazio Kohler Research'
 __author_email__ = 'gramaziokohler@arch.ethz.ch'
 __license__ = 'MIT license'
diff --git a/src/compas_fab/backends/ros/planner_backend_moveit.py b/src/compas_fab/backends/ros/planner_backend_moveit.py
@@ -33,6 +33,7 @@
 from compas_fab.backends.ros.messages import PositionConstraint
 from compas_fab.backends.ros.messages import PositionIKRequest
 from compas_fab.backends.ros.messages import RobotState
+from compas_fab.backends.ros.messages import TrajectoryConstraints
 from compas_fab.backends.ros.planner_backend import PlannerBackend
 from compas_fab.backends.ros.planner_backend import ServiceDescription
 from compas_fab.robots import Configuration
@@ -113,6 +114,27 @@ def dispose_planner(self):
         if hasattr(self, 'attached_collision_object_topic') and self.attached_collision_object_topic:
             self.attached_collision_object_topic.unadvertise()
 
+    def _convert_constraints_to_rosmsg(self, constraints, header):
+        """Convert COMPAS FAB constraints into ROS Messages."""
+        if not constraints:
+            return None
+
+        ros_constraints = Constraints()
+        for c in constraints:
+            if c.type == c.JOINT:
+                ros_constraints.joint_constraints.append(
+                    JointConstraint.from_joint_constraint(c))
+            elif c.type == c.POSITION:
+                ros_constraints.position_constraints.append(
+                    PositionConstraint.from_position_constraint(header, c))
+            elif c.type == c.ORIENTATION:
+                ros_constraints.orientation_constraints.append(
+                    OrientationConstraint.from_orientation_constraint(header, c))
+            else:
+                raise NotImplementedError
+
+        return ros_constraints
+
     # ==========================================================================
     # planning services
     # ==========================================================================
@@ -134,6 +156,8 @@ def inverse_kinematics_async(self, callback, errback, robot, frame, group,
                 aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
                 start_state.attached_collision_objects.append(aco)
 
+        constraints = self._convert_constraints_to_rosmsg(constraints, header)
+
         ik_request = PositionIKRequest(group_name=group,
                                        robot_state=start_state,
                                        constraints=constraints,
@@ -184,6 +208,8 @@ def plan_cartesian_motion_async(self, callback, errback,
                 aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
                 start_state.attached_collision_objects.append(aco)
 
+        path_constraints = self._convert_constraints_to_rosmsg(path_constraints, header)
+
         request = dict(header=header,
                        start_state=start_state,
                        group_name=group,
@@ -243,38 +269,12 @@ def plan_motion_async(self, callback, errback,
                 aco = AttachedCollisionObject.from_attached_collision_mesh(acm)
                 start_state.attached_collision_objects.append(aco)
 
-        # goal constraints
-        constraints = Constraints()
-        for c in goal_constraints:
-            if c.type == c.JOINT:
-                constraints.joint_constraints.append(
-                    JointConstraint.from_joint_constraint(c))
-            elif c.type == c.POSITION:
-                constraints.position_constraints.append(
-                    PositionConstraint.from_position_constraint(header, c))
-            elif c.type == c.ORIENTATION:
-                constraints.orientation_constraints.append(
-                    OrientationConstraint.from_orientation_constraint(header, c))
-            else:
-                raise NotImplementedError
-        goal_constraints = [constraints]
-
-        # path constraints
-        if path_constraints:
-            constraints = Constraints()
-            for c in path_constraints:
-                if c.type == c.JOINT:
-                    constraints.joint_constraints.append(
-                        JointConstraint.from_joint_constraint(c))
-                elif c.type == c.POSITION:
-                    constraints.position_constraints.append(
-                        PositionConstraint.from_position_constraint(header, c))
-                elif c.type == c.ORIENTATION:
-                    constraints.orientation_constraints.append(
-                        OrientationConstraint.from_orientation_constraint(header, c))
-                else:
-                    raise NotImplementedError
-            path_constraints = constraints
+        # convert constraints
+        goal_constraints = [self._convert_constraints_to_rosmsg(goal_constraints, header)]
+        path_constraints = self._convert_constraints_to_rosmsg(path_constraints, header)
+
+        if trajectory_constraints is not None:
+            trajectory_constraints = TrajectoryConstraints(constraints=self._convert_constraints_to_rosmsg(path_constraints, header))
 
         request = dict(start_state=start_state,
                        goal_constraints=goal_constraints,
diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
@@ -64,23 +64,38 @@ def artist(self):
     @artist.setter
     def artist(self, artist):
         self._artist = artist
-        self.scale(self._scale_factor)
-        if self.attached_tool:
-            self.artist.attach_tool(self.attached_tool)
+        if len(self.model.joints) > 0 and len(self.model.links) > 0:
+            self.scale(self._scale_factor)
+            if self.attached_tool:
+                self.artist.attach_tool(self.attached_tool)
 
     @classmethod
     def basic(cls, name, joints=None, links=None, materials=None, **kwargs):
-        """Convenience method to create the most basic instance of a robot, based only on a name.
+        """Convenience method to create the most basic instance of a robot,
+           based only on a name.
 
         Parameters
         ----------
         name : str
             Name of the robot
+        joints : :class:`compas.robots.Joint`, optional
+        links : :class:`compas.robots.Link`, optional
+        materials : :class:`compas.robots.Material`, optional
+        **kwargs
+            Keyword arguments passed to :class:`compas.robots.RobotModel`
+            and stored as :attr:`compas.robots.RobotModel.attr`.
+            Accessible from :attr:`Robot.model.attr`.
 
         Returns
         -------
         :class:`Robot`
             Newly created instance of a robot.
+
+        Examples
+        --------
+        >>> robot = Robot.basic('A robot')
+        >>> robot.name
+        'A robot'
         """
         model = RobotModel(name, joints=joints or [], links=links or [],
                            materials=materials or [], **kwargs)
@@ -472,6 +487,25 @@ def merge_group_with_full_configuration(self, group_configuration, full_configur
         full_configuration.values = [full_joint_state[name] for name in full_configuration.joint_names]
         return full_configuration
 
+    def get_group_names_from_link_name(self, link_name):
+        """Returns the group_names to which the link_name belongs to.
+
+        Parameters
+        ----------
+        link_name : str
+            The name of a link
+
+        Returns
+        -------
+        list of str
+           A list of group names.
+        """
+        group_names = []
+        for group in self.group_names:
+            if link_name in self.get_link_names(group):
+                group_names.append(group)
+        return group_names
+
     def get_position_by_joint_name(self, configuration, joint_name, group=None):
         """Returns the value of the joint_name in the passed configuration.
         """
diff --git a/tasks.py b/tasks.py
@@ -199,14 +199,18 @@ def deploy_docs(ctx):
 
 @task(help={
       'doctest': 'True to run doctest modules, otherwise False.',
+      'coverage': 'True to generate coverage report using pytest-cov'
       })
-def test(ctx, doctest=True):
+def test(ctx, doctest=False, coverage=False):
     """Run all tests."""
+
+    pytest_args = ['pytest']
     if doctest:
-        ctx.run('pytest --doctest-modules')
-    else:
-        ctx.run('pytest')
+        pytest_args.append('--doctest-modules')
+    if coverage:
+        pytest_args.append('--cov=compas_fab')
 
+    ctx.run(" ".join(pytest_args))
 
 @task(help={
       'release_type': 'Type of release follows semver rules. Must be one of: major, minor, patch.'})
diff --git a/tests/robots/test_robot.py b/tests/robots/test_robot.py
@@ -0,0 +1,66 @@
+
+import os
+
+import pytest
+from compas.robots import RobotModel
+
+from compas_fab.robots import Robot
+from compas_fab.robots import RobotSemantics
+from compas_fab.robots.ur5 import Robot as Ur5Robot
+
+BASE_FOLDER = os.path.dirname(__file__)
+
+
+@pytest.fixture
+def panda_srdf():
+    return os.path.join(BASE_FOLDER, 'fixtures', 'panda_semantics.srdf')
+
+
+@pytest.fixture
+def panda_urdf():
+    return os.path.join(BASE_FOLDER, 'fixtures', 'panda.urdf')
+
+
+@pytest.fixture
+def panda_joints(panda_urdf, panda_srdf):
+    model = RobotModel.from_urdf_file(panda_urdf)
+    semantics = RobotSemantics.from_srdf_file(panda_srdf, model)
+    return semantics.get_configurable_joints()
+
+
+@pytest.fixture
+def ur5_joints():
+    robot = Ur5Robot()
+    return robot.model.joints
+
+
+@pytest.fixture
+def ur5_links():
+    robot = Ur5Robot()
+    return robot.model.links
+
+
+def test_basic_name_only():
+    robot = Robot.basic('testbot')
+    assert robot.artist is None
+
+
+def test_basic_name_joints_links(ur5_joints, ur5_links):
+    robot = Robot.basic('testbot', joints=ur5_joints, links=ur5_links)
+    assert len(robot.model.links) == 11
+    assert len(robot.get_configurable_joint_names()) == 6
+
+
+def test_basic_name_joints(ur5_joints):
+    robot = Robot.basic('testbot', joints=ur5_joints)
+    assert len(robot.model.joints) == 10
+
+
+def test_basic_name_links(ur5_links):
+    robot = Robot.basic('testbot', links=ur5_links)
+    assert len(robot.model.links) == 11
+
+
+def test_basic_attr():
+    robot = Robot.basic('testbot', location="rfl")
+    assert robot.model.attr['location'] == "rfl"
