Support compas 2 private Data API

.github/workflows/build.yml

@@ -17,16 +17,16 @@ jobs:
       matrix:
         name: [
           "windows-py38",
-          "macos-py37",
+          "macos-py39",
           "ubuntu-py39",
         ]
         include:
           - name: "windows-py38"
             os: windows-latest
             python-version: 3.8
-          - name: "macos-py37"
+          - name: "macos-py39"
             os: macos-latest
-            python-version: 3.7
+            python-version: 3.9
           - name: "ubuntu-py39"
             os: ubuntu-latest
             python-version: 3.9
@@ -57,14 +57,16 @@ jobs:
       - uses: actions/checkout@v2
       - name: Install dependencies
         run: |
-          curl -o compas.tar.gz -LJO https://pypi.debian.net/COMPAS/COMPAS-1.17.7.tar.gz
+          curl -o compas.tar.gz -LJO https://pypi.debian.net/COMPAS/COMPAS-2.0.1.tar.gz
           curl -o roslibpy.tar.gz -LJO https://pypi.debian.net/roslibpy/latest
           curl -o ironpython-pytest.tar.gz -LJO https://pypi.debian.net/ironpython-pytest/latest
+          curl -o compas_robots.tar.gz -LJO https://pypi.debian.net/compas_robots/latest
           choco install ironpython --version=2.7.8.1
           ipy -X:Frames -m ensurepip
           ipy -X:Frames -m pip install --no-deps compas.tar.gz
           ipy -X:Frames -m pip install --no-deps roslibpy.tar.gz
           ipy -X:Frames -m pip install --no-deps ironpython-pytest.tar.gz
+          ipy -X:Frames -m pip install --no-deps compas_robots.tar.gz
       - name: Run tests
         env:
           IRONPYTHONPATH: ./src

AUTHORS.rst

@@ -49,4 +49,5 @@ Authors
 * Yijiang Huang <[email protected]> `@yijiangh <https://github.com/yijiangh>`_
 * Chen Kasirer <[email protected]> `@chenkasirer <https://github.com/chenkasirer>`_
 * Edvard Bruun <[email protected]> `@ebruun <https://github.com/ebruun>`_
+* Victor Pok Yin Leung <[email protected]> `@yck011522 <https://github.com/yck011522>`_
 

CHANGELOG.md

@@ -20,6 +20,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Migrate to COMPAS 2.x: add dependency to `compas_robots`
 * Migrate to COMPAS 2.x: use `compas.tolerance` module instead of `compas.PRECISION`
 * Changed base class of `Trajectory` to be `compas.datastructures.Datastructure`, which adds `attributes` to it.
+* Fixed `data` serialization API to comply with `COMPAS 2.0` private data API.
 
 ### Removed
 

docs/examples/01_fundamentals/02_coordinate_frames.rst

@@ -73,9 +73,9 @@ before sending it as a target pose to the robot.
 
     from compas_fab.robots import Robot
 
-    from compas.robots import RobotModel
-    from compas.robots import Joint
-    from compas.robots import Link
+    from compas_robots import RobotModel
+    from compas_robots.model import Joint
+    from compas_robots.model import Link
 
     from compas.geometry import Frame
     from compas.geometry import Transformation

docs/examples/03_backends_ros/files/05_append_collision_meshes.py

@@ -15,7 +15,7 @@
     brick = Box.from_width_height_depth(0.11, 0.07, 0.25)
 
     for i in range(5):
-        mesh = Mesh.from_vertices_and_faces(brick.vertices, brick.faces)
+        mesh = brick.to_mesh(triangulated=True)
         cm = CollisionMesh(mesh, 'brick')
         cm.frame.point.y += 0.5
         cm.frame.point.z += brick.zsize * i

docs/examples/05_backends_pybullet/files/01_add_attached_collision_mesh.py

@@ -1,7 +1,7 @@
 import time
 
 from compas.datastructures import Mesh
-from compas_robots import LocalPackageMeshLoader
+from compas_robots.resources import LocalPackageMeshLoader
 
 import compas_fab
 from compas_fab.backends import PyBulletClient

docs/examples/07_reachability_map/01_reachability_map.rst

@@ -44,7 +44,7 @@ because the ``ReachabilityMap`` takes a ``Frame`` generator as input.
     from compas.geometry import Sphere
 
     # 1. Define frames on a sphere
-    sphere = Sphere((0.4, 0, 0), 0.15)
+    sphere = Sphere(radius=0.15, point=[0.4, 0, 0])
 
     def points_on_sphere_generator(sphere):
         for theta_deg in range(0, 360, 20):

docs/examples/07_reachability_map/02_vector_generators.rst

@@ -28,12 +28,12 @@ In the example below, the given axis is visualized in red, and the generated vec
 >>> max_alpha = 60
 >>> for xaxis in OrthonormalVectorsFromAxisGenerator(zaxis, math.radians(max_alpha)):
 ...     print(xaxis)
-Vector(0.000, -1.000, 0.000)
-Vector(0.866, -0.500, 0.000)
-Vector(0.866, 0.500, 0.000)
-Vector(0.000, 1.000, 0.000)
-Vector(-0.866, 0.500, 0.000)
-Vector(-0.866, -0.500, 0.000)
+Vector(x=0.000, y=-1.000, z=0.000)
+Vector(x=0.866, y=-0.500, z=0.000)
+Vector(x=0.866, y=0.500, z=0.000)
+Vector(x=0.000, y=1.000, z=0.000)
+Vector(x=-0.866, y=0.500, z=0.000)
+Vector(x=-0.866, y=-0.500, z=0.000)
 
 
 Generate vectors that deviate
@@ -54,13 +54,13 @@ In the example below, the given axis is visualized in red, and the generated vec
 >>> step = 1
 >>> for axis in DeviationVectorsGenerator(zaxis, math.radians(max_alpha), step):
 ...     print(axis)
-Vector(0.000, 0.000, 1.000)
-Vector(-0.643, 0.000, 0.766)
-Vector(-0.321, -0.557, 0.766)
-Vector(0.321, -0.557, 0.766)
-Vector(0.643, -0.000, 0.766)
-Vector(0.321, 0.557, 0.766)
-Vector(-0.321, 0.557, 0.766)
+Vector(x=0.000, y=0.000, z=1.000)
+Vector(x=-0.643, y=0.000, z=0.766)
+Vector(x=-0.321, y=-0.557, z=0.766)
+Vector(x=0.321, y=-0.557, z=0.766)
+Vector(x=0.643, y=-0.000, z=0.766)
+Vector(x=0.321, y=0.557, z=0.766)
+Vector(x=-0.321, y=0.557, z=0.766)
 
 
 Or another example with using ``max_angle = 60`` and ``step = 2``.

requirements.txt

@@ -1,5 +1,5 @@
-compas >= 2.0.0b2
-compas_robots >= 0.1.0, < 1
+compas >= 2.0.1
+compas_robots >= 0.2.1, < 1
 roslibpy >= 1.1.0
 pybullet
 pyserial

setup.py

@@ -49,11 +49,6 @@ def read(*names, **kwargs):
         "Operating System :: Microsoft :: Windows",
         "Programming Language :: Python",
         "Programming Language :: Python :: 3",
-        "Programming Language :: Python :: 3.3",
-        "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 :: 3.9",
         "Programming Language :: Python :: Implementation :: CPython",

src/compas_fab/backends/kinematics/solvers/spherical_wrist.py

@@ -169,8 +169,8 @@ def inverse_kinematics_spherical_wrist(target_frame, points):
         Rot1 = Rotation.from_axis_and_angle([0, 0, 1], -1 * axis1_angle, point=[0, 0, 0])
         p1A = p1_proj.transformed(Rot1)
         elbow_dir = Vector(1, 0, 0).transformed(Rot1)
-        sphere1 = Sphere(lower_arm_length, p1A)
-        sphere2 = Sphere(upper_arm_length, wrist)
+        sphere1 = Sphere(lower_arm_length, point=p1A)
+        sphere2 = Sphere(upper_arm_length, point=wrist)
         elbow_frame = Frame(p1A, elbow_dir, [0, 0, 1])
         elbow_plane = (p1A, elbow_frame.normal)
 

src/compas_fab/backends/pybullet/planner.py

@@ -4,14 +4,16 @@
 
 from compas_fab.backends.interfaces.client import PlannerInterface
 from compas_fab.backends.interfaces.client import forward_docstring
-from compas_fab.backends.pybullet.backend_features.pybullet_add_attached_collision_mesh import \
-    PyBulletAddAttachedCollisionMesh
+from compas_fab.backends.pybullet.backend_features.pybullet_add_attached_collision_mesh import (
+    PyBulletAddAttachedCollisionMesh,
+)
 from compas_fab.backends.pybullet.backend_features.pybullet_add_collision_mesh import PyBulletAddCollisionMesh
 from compas_fab.backends.pybullet.backend_features.pybullet_append_collision_mesh import PyBulletAppendCollisionMesh
 from compas_fab.backends.pybullet.backend_features.pybullet_forward_kinematics import PyBulletForwardKinematics
 from compas_fab.backends.pybullet.backend_features.pybullet_inverse_kinematics import PyBulletInverseKinematics
-from compas_fab.backends.pybullet.backend_features.pybullet_remove_attached_collision_mesh import \
-    PyBulletRemoveAttachedCollisionMesh
+from compas_fab.backends.pybullet.backend_features.pybullet_remove_attached_collision_mesh import (
+    PyBulletRemoveAttachedCollisionMesh,
+)
 from compas_fab.backends.pybullet.backend_features.pybullet_remove_collision_mesh import PyBulletRemoveCollisionMesh
 
 __all__ = [

src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py

@@ -19,7 +19,6 @@
 from compas_fab.backends.ros.messages import RobotState
 from compas_fab.backends.ros.messages import RosDistro
 from compas_fab.backends.ros.service_description import ServiceDescription
-from compas_fab.robots import Duration
 
 __all__ = [
     "MoveItInverseKinematics",
@@ -121,7 +120,7 @@ def inverse_kinematics_async(
         constraints = convert_constraints_to_rosmsg(options.get("constraints"), header)
 
         timeout_in_secs = options.get("timeout", 2)
-        timeout_duration = Duration(timeout_in_secs, 0).to_data()
+        timeout_duration = {"secs": timeout_in_secs, "nsecs": 0}
 
         ik_request = PositionIKRequest(
             group_name=group,

src/compas_fab/backends/ros/client.py

@@ -2,7 +2,6 @@
 
 import os
 
-from compas.tolerance import TOL
 from compas_robots import RobotModel
 from roslibpy import Message
 from roslibpy import Param

src/compas_fab/backends/ros/messages/geometry_msgs.py

@@ -149,7 +149,7 @@ class Wrench(ROSmsg):
     >>> ros_wrench.msg
     {'force': {'x': 0.0, 'y': 0.0, 'z': -98.0}, 'torque': {'x': 0.0, 'y': 0.0, 'z': 0.0}}
     >>> ros_wrench.wrench
-    Wrench(Vector(0.000, 0.000, -98.000), Vector(0.000, 0.000, 0.000))
+    Wrench(Vector(x=0.0, y=0.0, z=-98.0), Vector(x=0.0, y=0.0, z=0.0))
     """
 
     ROS_MSG_TYPE = "geometry_msgs/Wrench"
@@ -206,7 +206,7 @@ class Inertia(ROSmsg):
     >>> ros_inertia.msg
     {'m': 1.0, 'com': {'x': 0.1, 'y': 3.1, 'z': 4.4}, 'ixx': 0.0, 'ixy': 0.0, 'ixz': 0.0, 'iyy': 0.0, 'iyz': 0.0, 'izz': 0.0}
     >>> ros_inertia.inertia
-    Inertia([[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 1.0, Point(0.100, 3.100, 4.400))
+    Inertia([[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], 1.0, Point(x=0.1, y=3.1, z=4.4))
     """
 
     ROS_MSG_TYPE = "geometry_msgs/Inertia"

src/compas_fab/backends/ros/planner.py

@@ -1,6 +1,7 @@
 """
 Internal implementation of the planner backend interface for MoveIt!
 """
+
 from __future__ import absolute_import
 from __future__ import division
 from __future__ import print_function
@@ -16,8 +17,9 @@
 from compas_fab.backends.ros.backend_features.move_it_plan_cartesian_motion import MoveItPlanCartesianMotion
 from compas_fab.backends.ros.backend_features.move_it_plan_motion import MoveItPlanMotion
 from compas_fab.backends.ros.backend_features.move_it_planning_scene import MoveItPlanningScene
-from compas_fab.backends.ros.backend_features.move_it_remove_attached_collision_mesh import \
-    MoveItRemoveAttachedCollisionMesh
+from compas_fab.backends.ros.backend_features.move_it_remove_attached_collision_mesh import (
+    MoveItRemoveAttachedCollisionMesh,
+)
 from compas_fab.backends.ros.backend_features.move_it_remove_collision_mesh import MoveItRemoveCollisionMesh
 
 __all__ = [

src/compas_fab/backends/ros/service_description.py

@@ -4,6 +4,7 @@
 This is only internal, these interfaces and their implementations
 are managed internally by the RosClient class.
 """
+
 from __future__ import absolute_import
 from __future__ import division
 from __future__ import print_function

src/compas_fab/blender/__init__.py

@@ -14,6 +14,7 @@
 of the CAD environment.
 
 """
+
 try:
     import bpy  # noqa: F401
     import mathutils  # noqa: F401

src/compas_fab/ghpython/__init__.py

@@ -24,6 +24,7 @@
 
 
 """
+
 import compas
 
 if compas.RHINO:

src/compas_fab/ghpython/components/Cf_AttachTool/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from compas.geometry import Frame
 from compas_rhino.conversions import mesh_to_compas
 from compas_rhino.conversions import plane_to_compas_frame

src/compas_fab/ghpython/components/Cf_AttachedCollisionMesh/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from compas_rhino.conversions import mesh_to_compas
 from ghpythonlib.componentbase import executingcomponent as component
 

src/compas_fab/ghpython/components/Cf_CollisionMesh/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from compas_rhino.conversions import mesh_to_compas
 from ghpythonlib.componentbase import executingcomponent as component
 

src/compas_fab/ghpython/components/Cf_ConfigMerge/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from ghpythonlib.componentbase import executingcomponent as component
 
 

src/compas_fab/ghpython/components/Cf_ConfigZero/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from ghpythonlib.componentbase import executingcomponent as component
 
 

src/compas_fab/ghpython/components/Cf_ConstraintsFromConfiguration/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 import math
 
 from ghpythonlib.componentbase import executingcomponent as component

src/compas_fab/ghpython/components/Cf_ConstraintsFromPlane/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 import math
 
 from compas_rhino.conversions import plane_to_compas_frame

src/compas_fab/ghpython/components/Cf_ForwardKinematics/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from ghpythonlib.componentbase import executingcomponent as component
 
 

src/compas_fab/ghpython/components/Cf_InverseKinematics/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from compas_rhino.conversions import plane_to_compas_frame
 from ghpythonlib.componentbase import executingcomponent as component
 

src/compas_fab/ghpython/components/Cf_PlanCartesianMotion/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from compas_rhino.conversions import plane_to_compas_frame
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st

src/compas_fab/ghpython/components/Cf_PlanMotion/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 

src/compas_fab/ghpython/components/Cf_PlanningScene/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 

src/compas_fab/ghpython/components/Cf_RosConnect/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 

src/compas_fab/ghpython/components/Cf_RosRobot/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 from compas.scene import SceneObject
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st

src/compas_fab/ghpython/components/Cf_RosTopicPublish/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 import time
 
 from ghpythonlib.componentbase import executingcomponent as component

src/compas_fab/ghpython/components/Cf_RosTopicSubscribe/code.py

@@ -3,6 +3,7 @@
 
 COMPAS FAB v0.28.0
 """
+
 import time
 
 import Grasshopper.Kernel