compas-dev · gonzalocasas · Jan 11, 2024 · Dec 20, 2023 · Dec 20, 2023 · Dec 20, 2023
diff --git a/.editorconfig b/.editorconfig
@@ -1,5 +1,4 @@
 # EditorConfig is awesome: http://EditorConfig.org
-
 root = true
 
 [*]
@@ -17,13 +16,15 @@ end_of_line = crlf
 [*.md]
 trim_trailing_whitespace = false
 
+[*.yml]
+indent_size = 2
+
+[*.rst]
+indent_size = 4
+
 [Makefile]
 indent_style = tab
 indent_size = 4
 
-[*.yml]
-indent_style = space
-indent_size = 2
-
 [LICENSE]
 insert_final_newline = false
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -16,6 +16,5 @@ _Put an `x` in the boxes that apply. You can also fill these out after creating
 - [ ] I added a line to the `CHANGELOG.md` file in the `Unreleased` section under the most fitting heading (e.g. `Added`, `Changed`, `Removed`).
 - [ ] I ran all tests on my computer and it's all green (i.e. `invoke test`).
 - [ ] 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.
 - [ ] I have added necessary documentation (if appropriate)
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -9,7 +9,20 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Update all artists to the new `SceneObject` system.
+* Added `precision` parameter to `load_geometry` method instead of relying exclusively on the global precision setting.
+
 ### Changed
 
+* Changed minimum requirements to `COMPAS 2.x`.
+* Moved `RobotModel`, `ToolModel` and `Configuration` to the top-level package of this library.
+* Moved `URDF` parsing from core into this library.
+* Changed urdf parsing to use `compas.colors.Color` instead of a robot-specific color class.
+* Changed `ToolModel.link_name` to `ToolModel.connected_to`.
+* Fixed data serialization for `RobotModel` and `ToolModel`.
+* Update all data serialization to `COMPAS 2.0` convention
+
 ### Removed
 
+* Removed deprecated aliases `Origin`, `Cylinder`, `Box`, `Sphere`, `Capsule`.
+* Removed deprecated method `load_mesh` of resource loaders.
diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-compas-dev
+Copyright (c) 2023-2024 COMPAS Association
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/README.md b/README.md
@@ -2,7 +2,6 @@
 
 Basic infrastructure for working with robots in COMPAS.
 
-
 ## Getting started with this project
 
 ### Setup code editor
@@ -70,19 +69,6 @@ Tests are written using the [pytest](https://docs.pytest.org/) framework
 2. Or run them from VS Code from the `Testing` tab
 
 
-### Developing Grasshopper components
-
-We use [Grasshopper Componentizer](https://github.com/compas-dev/compas-actions.ghpython_components) to develop Python components that can be stored and edited on git.
-
-1. Build components
-
-        invoke build-ghuser-components
-
-2. Install components on Rhino
-
-        python -m compas_rhino.install
-
-
 ### Publish release
 
 Releases follow the [semver](https://semver.org/spec/v2.0.0.html) versioning convention.

diff --git a/data/PLACEHOLDER b/data/PLACEHOLDER
diff --git a/docs/_images/PLACEHOLDER b/docs/_images/PLACEHOLDER
diff --git a/docs/_static/PLACEHOLDER b/docs/_static/PLACEHOLDER
diff --git a/docs/api.rst b/docs/api.rst
@@ -3,6 +3,6 @@ API Reference
 ********************************************************************************
 
 .. toctree::
-    :maxdepth: 1
+    :maxdepth: 2
 
-    api/compas_robots
+    api/index
diff --git a/docs/api/compas_robots.artists.rst b/docs/api/compas_robots.artists.rst
diff --git a/docs/api/compas_robots.robots.rst → docs/api/compas_robots.model.rst b/docs/api/compas_robots.robots.rst → docs/api/compas_robots.model.rst
@@ -1,12 +1,8 @@
 ********************************************************************************
-compas_robots.robots
+compas_robots.model
 ********************************************************************************
 
-.. currentmodule:: compas_robots.robots
-
-.. warning::
-
-    Note that this package will be removed from :mod:`compas` and moved to a separate core extension, ``compas_robots``.
+.. currentmodule:: compas_robots.model
 
 .. rst-class:: lead
 
@@ -16,19 +12,15 @@ This package provides classes for describing robots, their components, and their
 Model
 =====
 
-The root of the model is the :class:`RobotModel` class, which
-describes a robot consisting of a set of link elements, and a set of joint
+A robot model consists of a set of link elements, and a set of joint
 elements connecting the links together.
 
 .. autosummary::
     :toctree: generated/
     :nosignatures:
 
-    RobotModel
     Joint
     Link
-    ToolModel
-    Configuration
 
 
 Geometric description
@@ -45,7 +37,6 @@ using the following classes.
     MeshDescriptor
     Material
     Texture
-    Color
 
 
 Link
@@ -81,21 +72,3 @@ The joint describes the kinematics and dynamics of the robot's joint.
     Axis
     Mimic
     SafetyController
-
-
-Resources
-=========
-
-Model descriptions usually do not contain embedded geometry information but only
-descriptions, filenames or URLs for externally hosted resources.
-For that purpose, this package provides various loader classes that help automate
-the processing of these resources.
-
-.. autosummary::
-    :toctree: generated/
-    :nosignatures:
-
-    AbstractMeshLoader
-    DefaultMeshLoader
-    GithubPackageMeshLoader
-    LocalPackageMeshLoader
diff --git a/docs/api/compas_robots.resources.rst b/docs/api/compas_robots.resources.rst
@@ -0,0 +1,21 @@
+********************************************************************************
+compas_robots.resources
+********************************************************************************
+
+.. currentmodule:: compas_robots.resources
+
+.. rst-class:: lead
+
+Model descriptions usually do not contain embedded geometry information but only
+descriptions, filenames or URLs for externally hosted resources.
+For that purpose, this package provides various loader classes that help automate
+the processing of these resources.
+
+.. autosummary::
+    :toctree: generated/
+    :nosignatures:
+
+    AbstractMeshLoader
+    DefaultMeshLoader
+    GithubPackageMeshLoader
+    LocalPackageMeshLoader
diff --git a/docs/api/compas_robots.rst b/docs/api/compas_robots.rst
@@ -6,12 +6,17 @@ compas_robots
 
 .. rst-class:: lead
 
-Modules
-=======
+This package provides classes for describing robots models.
 
-.. toctree::
-    :maxdepth: 1
-    :titlesonly:
+The root of a robot model is the :class:`RobotModel` class, which
+describes a robot consisting of a set of link elements, and a set of joint
+elements connecting the links together.
+
+.. autosummary::
+    :toctree: generated/
+    :nosignatures:
+
+    Configuration
+    RobotModel
+    ToolModel
 
-    compas_robots.artists
-    compas_robots.robots
diff --git a/docs/api/compas_robots.scene.rst b/docs/api/compas_robots.scene.rst
@@ -0,0 +1,14 @@
+********************************************************************************
+compas_robots.scene
+********************************************************************************
+
+.. currentmodule:: compas_robots.scene
+
+.. rst-class:: lead
+
+.. autosummary::
+    :toctree: generated/
+    :nosignatures:
+
+    AbstractRobotModelObject
+    BaseRobotModelObject
diff --git a/docs/api/index.rst b/docs/api/index.rst
@@ -0,0 +1,58 @@
+
+********************************************************************************
+API Reference
+********************************************************************************
+
+compas_robots
+-------------
+
+This package defines the main functionality to work with robot models in the COMPAS framework.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+    :caption: compas_robots
+
+    compas_robots
+    compas_robots.model
+    compas_robots.resources
+    compas_robots.scene
+
+
+compas_robots.blender
+---------------------
+
+This package provides functionality for visualizing robot models in Blender.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+    :caption: compas_robots.blender
+
+    compas_robots.blender.scene
+
+
+compas_robots.ghpython
+----------------------
+
+This package provides functionality for visualizing robot models in Rhino, through GHPython.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+    :caption: compas_robots.ghpython
+
+    compas_robots.ghpython.scene
+
+
+compas_robots.rhino
+-------------------
+
+This package provides functionality for visualizing robot models in Rhino.
+
+.. toctree::
+    :maxdepth: 1
+    :titlesonly:
+    :caption: compas_robots.rhino
+
+    compas_robots.rhino.scene