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Gonzalo Casas gonzalocasas ETH Zürich, Institute of Technology in Architecture Zurich https://gnz.io

compas-dev/compas 116

Core packages of the COMPAS framework.

gonzalocasas/arduino-mkr-wan-1300 27

Getting started with the Arduino MKR WAN 1300

compas-ITA19/ITA19 9

Schedule, examples, notebooks, ... for the ITA PhD course

BlockResearchGroup/compas_assembly 4

Assembly data structures for the COMPAS framework.

BlockResearchGroup/compas_rbe 3

Rigid Block Equilibrium Analysis for the COMPAS framework

createchaos/coop_assembly 3

Geometry generation of robotically assembled spatial structures

compas-dev/compas_cgal 1

COMPAS package for working with CGAL PMP.

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pull request commentcompas-dev/compas_fab

Compas update

I think it looks good, and I agree with the fix being temporary but necessary.

beverlylytle

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Pull request review commentcompas-dev/compas_fab

Compas update

 from timeit import default_timer as timer  import compas-from compas.datastructures import Mesh

I'm so looking forward for the time when we can get rid of this file. I believe it's only used for vrep planning examples.

beverlylytle

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Pull request review commentcompas-dev/compas_fab

Compas update

  requirements = [     # Until COMPAS reaches 1.0, we pin major.minor and allow patch version updates-    'compas>=0.16.2,<0.17',+    'compas>=0.16.3,<0.17',

Shouldn't we bump to 0.16.4?

beverlylytle

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issue commentbulletphysics/bullet3

Availability of pybullet on conda-forge

note: @erwincoumans please correct me if I'm wrong

It looks to me like pypi's archive for pybullet definitely includes the C++ source (according to the manifest, it includes most of src, examples and Extras directories from github). The source code gets compiled on the user's machine during setup.py.

Regarding the question of C++ not changing at all: doesn't seem to be the case. There are clearly changes to the C++ code that are being shipped regularly to pybullet installs. So I would argue that the pybullet version number should actually also be the bullet c++ version number, because the c++ code shipped is not a match. Ie: pybullet 3.0.4 is definitely not the same as bullet 2.98 + python bindings 3.0.4.

Considering how tightly coupled both these are, I don't quite understand the split version evolution.

gonzalocasas

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issue commentcompas-dev/compas_fab

Web Doc Version Link not visible on some pages

ACK on this! I am aware of it, older docs don't have it because we haven't regenerated them. But it's only a transitory problem. We'll rebuild them soon with the new theme.

yck011522

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Gonzalo Casas

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Add new sponsor: Leica - Hexagon

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pull request commentconda-forge/bullet-feedstock

Update to 2.89

@conda-forge-admin please rerender

xantares

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pull request commentconda-forge/bullet-feedstock

Update to 2.89

@xantares try adding a conda_build_config.yaml with:

MACOSX_DEPLOYMENT_TARGET:  # [osx]
  - 10.10                  # [osx]

otherwise, it's still defaulting to 10.09

xantares

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PR opened conda-forge/admin-requests

Mark bullet builds of 2020.09.22 as broken

Yesterday's bullet builds should be marked as broken because:

  • They are missing the C++ libraries (only contain the pybullet output)
  • They were version bumped to match pybullet's version which is out of sync with the C++ bullet one

The broken build was introduced on https://github.com/conda-forge/bullet-feedstock/pull/9 and there's an on-going PR to revert back the previous build method on https://github.com/conda-forge/bullet-feedstock/pull/11.

Ping @conda-forge/bullet

Checklist:

  • [x] Make sure your package is in the right spot (broken/* for adding the broken label, not_broken/* for removing the broken label)
  • [x] Added a description of the problem with the package in the PR description.
  • [x] Added links to any relevant issues/PRs in the PR description.
  • [x] Pinged the team for the package for their input.
+9 -0

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pull request commentconda-forge/bullet-feedstock

Update to 2.89

Rather than disabling the examples, the build fail on macos can be fixed by using macos sdk 10.10 (instead of the default 10.9)

xantares

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

@wolfv 👍 totally support the idea of keeping this package for multiple outputs (since it was already that before anyway), and then create two additional packages bullet-cpp and pybullet that would do only one or the other. This would prevent having to rename this package.

gonzalocasas

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

indeed, the C++ libs are not included: image

@xantares @wolfv question: which way do we go: A) revert here, leave this package to be just the C++ part and create a second pybullet recipe for the pybullet part? or B) do we attempt to fix here and re-add the c++ libs?

gonzalocasas

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

continuing the conversation here

https://github.com/bulletphysics/bullet3/issues/3073#issuecomment-696756892 I'll try to take care of this since this package is very important for my robotics work.

A quick option is to revert this PR entirely. However, the code & release situation of bullet/pybullet is so intermixed with each other, that I am unsure if it would not be better to have one package that installs both.

gonzalocasas

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delete branch conda-forge/bullet-feedstock

delete branch : revert-9-update-pybullet

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branch : revert-9-update-pybullet

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

@wolfv I'll check the C++ side. I was under the impression than the pypi was building it as well, but it could be that not all artifacts end up in the right places.

Regardless of this point: would you recommend to split anyway and create a pybullet package? or -if the C++ libraries part is resolved- this would be ok to keep as it is now?

gonzalocasas

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issue commentbulletphysics/bullet3

Availability of pybullet on conda-forge

I pushed a PR to update the conda-forge package, hopefully @xantares agrees with it and we can have a shiny up-to-date bullet/pybullet package available! https://github.com/conda-forge/bullet-feedstock/pull/9

gonzalocasas

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

@xantares alright, from my side, this is ready to be merged if you agree. If you want to make any changes, please let me know.

gonzalocasas

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pull request commentcompas-dev/compas_fab

Unit tests for compas_fab.robots.robot.py

@tetov do you plan to continue on this one? or do you prefer if we take over?

tetov

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

@conda-forge-admin, please rerender

gonzalocasas

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Gonzalo Casas

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Propose myself as co-maintainer

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Merge branch 'update-pybullet' of https://github.com/gonzalocasas/bullet-feedstock into update-pybullet

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

@conda-forge-admin, please rerender

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Try bumping Mac OSX SDK 10.10

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Another try

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Merge branch 'update-pybullet' of https://github.com/gonzalocasas/bullet-feedstock into update-pybullet

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

@conda-forge-admin, please rerender

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More tries at getting this to build

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Try to make OS X happy

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Fix license identifier

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pull request commentconda-forge/bullet-feedstock

Update recipe to rely on pypi as source of builds

@conda-forge-admin, please rerender

gonzalocasas

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PR opened conda-forge/bullet-feedstock

Reviewers
Update recipe to rely on pypi as source of builds

Quick test to see whether it is possible to rely on pypi to build bullet/pybullet package.

Checklist

  • [x] Used a personal fork of the feedstock to propose changes
  • [ ] Bumped the build number (if the version is unchanged)
  • [x] Reset the build number to 0 (if the version changed)
  • [ ] Re-rendered with the latest conda-smithy (Use the phrase <code>@<space/>conda-forge-admin, please rerender</code> in a comment in this PR for automated rerendering)
  • [ ] Ensured the license file is being packaged.

<!-- Please note any issues this fixes using closing keywords: -->

<!-- Please add any other relevant info below: -->

+10 -282

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A conda-smithy repository for bullet.

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issue commentbulletphysics/bullet3

Availability of pybullet on conda-forge

I recommend using pip install pybullet, that is most up-to-date, aside from git clone and python setup.py install --user.

yes, the recommendation is clear, but neglecting the conda ecosystem which is widely use in scientific computing, feels like a lost opportunity. It is not difficult to keep a conda-forge recipe constantly up-to-date to the latest pypi releases. If @xantares agrees, I can definitely help with that maintenance task.

gonzalocasas

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issue commentbulletphysics/bullet3

Availability of pybullet on conda-forge

but I suppose they need to call the package pybullet?

Not necessarily.

Who is the maintainer of conda bullet?

According to the recipe, it is @xantares

What about this package? https://anaconda.org/hcc/pybullet

Packages outside conda/conda-forge are not the same level of support. That one in particular seems pretty unmaintained, last released 1+ year ago. That's why forge is so good, it's tied to pypi/github released to auto trigger.

gonzalocasas

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pull request commentcompas-dev/compas

RPC: add automodule reload and some other tweaks

@yijiangh I think I finally fixed this one. The autoreload now should work for your example as well (before it was not recursing directories and your example had changes on a sub-directory which was not detected). I also teste the capturing of output much more in detail, and it works now as expected. However, it's important to highlight that -as you noticed- the behavior of the proxy cannot be changed if it's already running (ie. if you start it once with python='pythonw' and you use it again with python='python' but not having stopped it before, that change will NOT take effect). As I have mentioned in the past, for this kind of workflow, I think it's better/easier to understand the if the RPC server is manually started from the command line explicitly. There's less magic, and a much more straightforward behavior. The auto-starting mode should work, but it has all these caveats about not being able to change its behavior once it's running.

Let me know if it works for you now! :)

gonzalocasas

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Gonzalo Casas

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Support resurvice file watcher

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issue openedbulletphysics/bullet3

Availability of pybullet on conda-forge

NOTE: I am sure this has been asked before but I have not found a completely clear explanation on closed issues.


I find it very confusing that it is seemingly impossible to cleanly install pybullet as a conda/conda-forge package. Here's what I find confusing:

  1. conda-forge has a bullet package and installing it actually installs pybullet
  2. regardless of that, it's been mentioned often that "bullet is not the same as pybullet" (eg here), and while they are not the same, the package installs pybullet, so, I don't understand the clarification.
  3. after having installed conda install bullet, running pip install pybullet overrides the installation instead of finding it as already satisfied requirement (which is what happens with mostly every other package out there).

Finally, the conda-forge package has not been updated in about 10 months, while the pip has had very frequent updates in the same period. Normally, conda-forge bot automatically takes care of creating a PR when a new release is detected, so it's not clear to me what this doesn't happen in this case.

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issue commentcompas-dev/compas_fab

Cannot import helpers from compas_rhino (version issue?)

@philianeles yes, this is definitely a version issue (compas_rhino.helpers is gone in the 0.16.2 release). The latest compas_fab from the main branch runs correctly against compas 0.16.2.

philianeles

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Pull request review commentcompas-dev/compas

RPC: add automodule reload and some other tweaks

 The use of :mod:`compas.rpc` is not restricted to COMPAS packages only. ::  Note that Numpy arrays are automatically converted to lists. - Supported data types ==================== -:mod:`compas.rpc` uses JSON serialisation to transfer data between the "client" (your script)-and the server runnning the selected CPython environment.+:mod:`compas.rpc` uses JSON serialization to transfer data between the "client"+(your script) and the server running the selected CPython environment. -All COMPAS objects (primitives, shapes, data structures, ...) support JSON serialisation through-their ``to_json`` ``from_json`` methods. On a lower level, these methods convert (complex)-internal data to simple dicts, and vice versa, with ``to_data`` and ``from_data``.+All COMPAS objects (primitives, shapes, data structures, etc.) support JSON+serialization through their ``to_json`` ``from_json`` methods. On a lower level,+these methods convert (complex) internal data to simple dictionaries, and+vice versa, with ``to_data`` and ``from_data``. -In combination with custom JSON encoders and decoders this allows for COMPAS objects to be-serialised and unserialised without loss of information on either side of the RPC communication network.+In combination with custom JSON encoders and decoders this allows for COMPAS+objects to be serialized and de-serialized without loss of information on either+side of the RPC communication network. -Therefore the data types supported by :mod:`compas.rpc` include all native Python data types and COMPAS objects.-Numpy arrays are automatically converted to lists.+Therefore the data types supported by :mod:`compas.rpc` include all native Python+data types and COMPAS objects. Numpy arrays are automatically converted to lists. +linear algebra functions.

sorry! some merge leftover I guess.... fixed now

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docstrings

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add remeshing pluggable

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raise error in plugin pluggables

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adding a slicing pluggable

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updated extension point list

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Convert chained iterable to list

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cgal and libigl plugins for quad and tri meshes

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specify mesh parameter as tuple of two lists

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add halfface schema

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rename utility modules

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minor resturucturing

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add barycentric coordinates

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closest point for points

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direct support for convex polygon member checking

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barycentric

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issue closedcompas-dev/compas

Feature Request: `compas` class to comply with some standard python JSONEncoder

Relating to discussion in #554.

It would be nice for all default compas class to comply with some standard python JSONEncoder. Such that any collections of compas objects, or user classes that contains compas objects can automatically and recursively serialize them all.

I do not know how that works in Python. But I believe it is about subclassing the correct class and implement/override certain methods for de/serialization. In .net environment it is very easy to implement the ISerializable interface.

It would be nice to be able to just json.dump(any_collection_of_compas_objects)

Originally posted by @yck011522 in https://github.com/compas-dev/compas/issues/554#issuecomment-657265719

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yck011522

issue openedcompas-dev/compas_fab

Create basic UR RRC server

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issue commentcompas-dev/compas_fab

Neutral language refactoring

Github's default branch will change to main starting 1st October, and apparently (as reported by zdnet), by the end of the year, they will have tools/features to make it seamless to update for existing repos.

beverlylytle

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issue commentcompas-dev/compas

Feature Request: `compas` class to comply with some standard python JSONEncoder

Is this now already solved? Should we close? or is it still dependant on releasing 0.17?

yck011522

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issue openedcompas-dev/compas_fab

Backend features for execution

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issue openedcompas-dev/compas_fab

Investigate alternative interface to ROS2

Currently, we use rosbridge to interface with ROS1 and also ROS2. However, it is likely that the interface to ROS2 could be updated to use something more direct instead (perhaps DDS directly, or maybe it is possible to use rcl somehow)

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issue closedcompas-dev/compas_fab

ROS2 Integration

ROS2 integration implies MoveIt2.

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gonzalocasas

issue commentcompas-dev/compas_fab

ROS2 Integration

ROS2 works already via the rosbridge, but we keep this open to investigate other, more direct interfaces to it.

gonzalocasas

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issue openedcompas-dev/compas_fab

Pilz motion planner integration

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pull request commentcompas-dev/compas_fab

Synchronous ROS planning scene methods

I checked what this legacy file is but it's only the logging system,so, unrelated.

One option to try to replicate would be to run the tests in an ubuntu docker container.

beverlylytle

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pull request commentcompas-dev/compas_fab

Synchronous ROS planning scene methods

In the stack trace, twisted errors out on a file called _legacy.py or similar. Could it be that twisted itself has changed and we cannot reproduce because we have slightly older versions of it locally?

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Gonzalo Casas

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Also install compas on cpython to test RPC from IronPython

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pull request commentcompas-dev/compas

RPC: add automodule reload and some other tweaks

@gonzalocasas can you ping when it is finished?

yep, i updated it to master now. I will fix the github action workflow and then re-test. From my side, it was fine and working back then, but it was not working proper on @yijiangh 's machine and I could not reproduce the issue on my side yet. I will try to and come back soon.

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unit tests (probably fails on ironpython still)

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unit tests (probably fails on ironpython still)

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Use plugins to define rhino installable packages

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Merge branch 'master' into installable-extension-point

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Merge pull request #614 from compas-dev/installable-extension-point Use plugins to define rhino installable packages

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flat faces are flat

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Use plugins to define rhino installable packages

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Merge pull request #614 from compas-dev/installable-extension-point Use plugins to define rhino installable packages

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Use plugins to define rhino installable packages

The main goal of this PR is to change the way other packages install themselves into Rhino to make it a more straightforward experience for the user.

Currently, non-core packages (eg. compas_fab) need to be explicitly installed using something like python -m compas_rhino.install -p compas_fab. This works fine for simple packages, but as soon as packages have other dependencies, the thing gets messy. In the case of compas_fab, we provide a wrapped installer that takes care of both compas core and compas_fab+dependencies (python -m compas_fab.rhino.install) but this means extra code on each package that needs this behavior, and a confusing situation with similar but not entirely identical commands to install compas stuff.

So this PR leverages the new plugin system, defines a new pluggable extension point for packages to announce which packages they need and changes the install process to discover all existing plugins on that extension point and retrieve all the required rhino-installable packages.

For this purpose, the plugin system now has two types of plugins (first_match (default) and collect_all), and as an almost side note, I create a doc page to list all available extension points, otherwise it's very hard to discover them (eventually, this page generation should be automated):

image

There are already 3 examples of using this new end-point, two are in this PR: compas_rhino and compas_ghpython, instead of hard-coding the package names that need to go to Rhino, they define them using the same extension point. And for compas_fab, just opened a pr to do the same.

What type of change is this?

  • [ ] Bug fix in a backwards-compatible manner.
  • [ ] New feature in a backwards-compatible manner.
  • [ ] Breaking change: bug fix or new feature that involve incompatible API changes.
  • [x] Other (e.g. doc update, configuration, etc)

Checklist

Put an x in the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.

  • [ ] I added a line to the CHANGELOG.md file in the Unreleased section under the most fitting heading (e.g. Added, Changed, Removed).
  • [x] I ran all tests on my computer and it's all green (i.e. invoke test).
  • [x] 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.datastructures.Mesh.
  • [ ] I have added tests that prove my fix is effective or that my feature works.
  • [x] I have added necessary documentation (if appropriate)
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gonzalocasas

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Pull request review commentcompas-dev/compas

Use plugins to define rhino installable packages

 def install(version=None, packages=None):         sys.exit(exit_code)  +@compas.plugins.plugin(category='install', pluggable_name='installable_rhino_packages', tryfirst=True)+def default_installable_rhino_packages():+    # While this list could obviously be hard-coded, I think+    # eating our own dogfood and using plugins to define this, just like+    # any other extension/plugin would be is a better way to ensure consistent behavior.+    return ['compas', 'compas_rhino']+++@compas.plugins.pluggable(category='install', selector='collect_all')+def installable_rhino_packages():+    """Provide a list of packages to make available inside Rhino.++    Extensions providing Rhino or Grasshopper features+    can implement this pluggable interface to automatically+    have their packages made available inside Rhino when+    COMPAS is installed into it.++    Examples+    --------+    >>> import compas.plugins+    >>> @compas.plugins.plugin(category='install')+    ... def installable_rhino_packages():+    ...    return ['compas_fab']++    Returns+    -------+    :obj:`list` of :obj:`str`+        List of package names to make available inside Rhino.+    """

yep, eg. compas_fab: https://github.com/compas-dev/compas_fab/pull/200

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Do not default to rebuild docs, otherwise it takes an eternity

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pull request commentcompas-dev/compas

Use plugins to define rhino installable packages

ping

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Update src/compas/rpc/proxy.py Co-authored-by: beverlylytle <57254617+beverlylytle@users.noreply.github.com>

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