Merge branch 'master' of github.com:gramaziokohler/compas_fab into rhino-installer-plugin

Author: gonzalocasas

.github/workflows/ironpython.yml

@@ -15,13 +15,14 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - name: Setting IronPython path
-        run: echo "::set-env name=IRONPYTHONPATH::$env:GITHUB_WORKSPACE/src"
+        run: echo "IRONPYTHONPATH=$GITHUB_WORKSPACE/src" >> $GITHUB_ENV
       - name: Install dependencies
         run: |
+          echo IRONPYTHONPATH=$IRONPYTHONPATH
           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
       - name: Run tests
         run: |
-          ipy tests/ipy_test_runner.py
+          ipy tests/ipy_test_runner.py

CHANGELOG.rst

@@ -17,6 +17,15 @@ Unreleased
 * Added ``ClientInterface``, ``PlannerInterface`` and various backend feature interfaces
 * Added implementations of these interfaces for ROS and V-REP
 * Added ``attributes`` dictionary to ``Robot`` class
+* Added ``compas_fab.robots.Tool.from_t0cf_to_tcf``
+* Added ``compas_fab.robots.Tool.from_tcf_to_t0cf``
+* Added ```joint_names`` as optional parameter for all ``compas_fab.robots.Configuration`` constructors
+* Added ``compas_fab.robots.Configuration.iter_differences``
+* Added ``compas_fab.robots.Configuration.max_difference``
+* Added ``compas_fab.robots.Configuration.close_to``
+* Added ``compas_fab.robots.Configuration.merge``
+* Added ``compas_fab.robots.JointTrajectoryPoint.merge``
+* Added ``compas_fab.robots.Semantics.group_states``
 
 **Changed**
 
@@ -28,6 +37,11 @@ Unreleased
 * The signatures of all kinematics, motion planning and planning scene management methods have been homogenized across backend clients and within ``Robot``
 * All examples have been updated to reflect these changes
 * The installer to Rhino has been unified with COMPAS core. Now running ``python -m compas_rhino.install`` will also detect and install COMPAS FAB and its dependencies.
+* Renamed all ``RobotArtist`` implementations to ``RobotModelArtist`` to reflect
+  the fact they depend on ``compas.robots.RobotModel``.
+* Renamed  ``compas_fab.robots.Robot.from_tool0_to_attached_tool`` to ``compas_fab.robots.Robot.from_t0cf_to_tcf``
+* Renamed  ``compas_fab.robots.Robot.from_attached_tool_to_tool0`` to ``compas_fab.robots.Robot.from_tcf_to_t0cf``
+* Changed ROS planning scene methods to be synchronous.
 
 
 **Fixed**
@@ -39,6 +53,7 @@ Unreleased
 * The methods ``forward_kinematics``, ``inverse_kinematics``, ``plan_cartesian_motion`` and ``plan_motion``
   of ``Robot`` class have been refactored, but a backwards-compatible deprecated version with the old
   signatures still exists suffixed by ``_deprecated``, e.g. ``forward_kinematics_deprecated``.
+* ``RobotArtist`` are deprecated in favor of ``RobotModelArtist``.
 
 **Removed**
 

conftest.py

@@ -0,0 +1,3 @@
+def pytest_configure(config):
+    from twisted.internet import selectreactor
+    selectreactor.install()

docs/examples/02_description_models/02_robot.rst

@@ -64,7 +64,7 @@ separated from the specific CAD interfaces, while providing a way to leverage
 native performance of the CAD environment.
 
 In the main library there are artists for various datastructures (meshes,
-networks, etc), and **COMPAS FAB** adds a ``RobotArtist`` to them.
+networks, etc), and **COMPAS FAB** adds a ``RobotModelArtist`` to them.
 Robot artists allow visualizing robot models easily and efficiently.
 
 The following example illustrates how to load an entire robot model from

docs/examples/02_description_models/files/02_robot_artist_blender.py

@@ -2,7 +2,7 @@
 compas.PRECISION = '12f'
 
 from compas.robots import *
-from compas_fab.blender import RobotArtist
+from compas_fab.blender import RobotModelArtist
 
 r = 'ros-industrial/abb'
 p = 'abb_irb6600_support'
@@ -11,7 +11,7 @@
 github = GithubPackageMeshLoader(r, p, b)
 urdf = github.load_urdf('irb6640.urdf')
 
-robot = RobotModel.from_urdf_file(urdf)
-robot.load_geometry(github)
+model = RobotModel.from_urdf_file(urdf)
+model.load_geometry(github)
 
-RobotArtist(robot).draw_visual()
+RobotModelArtist(model).draw_visual()

docs/examples/02_description_models/files/02_robot_artist_grasshopper.ghx

@@ -2,7 +2,7 @@
 compas.PRECISION = '12f'
 
 from compas.robots import *
-from compas_fab.rhino import RobotArtist
+from compas_fab.rhino import RobotModelArtist
 
 r = 'ros-industrial/abb'
 p = 'abb_irb6600_support'
@@ -14,4 +14,4 @@
 robot = RobotModel.from_urdf_file(urdf)
 robot.load_geometry(github)
 
-RobotArtist(robot).draw_visual()
+RobotModelArtist(robot).draw_visual()

docs/examples/02_description_models/files/02_robot_artist_rhino.py

@@ -1,6 +1,6 @@
 import compas
 from compas_fab.backends import RosClient
-from compas_fab.rhino import RobotArtist
+from compas_fab.rhino import RobotModelArtist
 
 # Set high precision to import meshes defined in meters
 compas.PRECISION = '12f'
@@ -10,6 +10,6 @@
     robot = ros.load_robot(load_geometry=True)
 
     # Visualize robot
-    robot.artist = RobotArtist(robot.model, layer='COMPAS FAB::Example')
+    robot.artist = RobotModelArtist(robot.model, layer='COMPAS FAB::Example')
     robot.artist.clear_layer()
     robot.artist.draw_visual()

docs/examples/02_description_models/files/02_robot_artist_rhino_from_ros.py

@@ -16,8 +16,7 @@
     cm = CollisionMesh(mesh, 'floor')
     scene.add_collision_mesh(cm)
 
+    # sleep a bit before removing the floor
     time.sleep(1)
-    scene.remove_collision_mesh('floor')
 
-    # sleep a bit before terminating the client
-    time.sleep(1)
+    scene.remove_collision_mesh('floor')

docs/examples/03_backends_ros/files/04_add_collision_mesh.py

@@ -22,8 +22,7 @@
 
         scene.append_collision_mesh(cm)
 
+    # sleep a bit before removing the bricks
     time.sleep(1)
-    scene.remove_collision_mesh('brick')
 
-    # sleep a bit before terminating the client
-    time.sleep(1)
+    scene.remove_collision_mesh('brick')