Adds verbose option to PyBullet connection

Adds a `verbose` parameter to the `PyBulletClient.connect()` and `PyBulletClient.disconnect()` methods, allowing users to control the verbosity of the PyBullet connection.
This helps in debugging and avoids potential errors related to stdout redirection.

Changes the `PyBulletClient._handle_concavity()` to avoid the `redirect_stdout` context manager to avoid the mysterious `WinError 6: The handle is invalid.` error.

Author: yijiangh

CHANGELOG.md

@@ -178,6 +178,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Changed `TargetMode` to be an enum instead of string.
 * Changed default values for number of planning attempts in MoveIt to 5, and the allowed planning time to 1 second.
 * Changed cartesian motion planner of MoveIt to raise an exception (including the partial trajectory) if fraction is below 1.0 (ie. the trajectory is not possible).
+* Changed `PyBulletClient.connect()` and `PyBulletClient.disconnect()` to take a `verbose` parameter.
+* Changed `PyBulletClient._handle_concavity()` to ignore the `redirect_stdout` context manager to avoid the mysterious `WinError 6: The handle is invalid.` error.
 
 ### Removed
 

src/compas_fab/backends/pybullet/client.py

@@ -67,6 +67,7 @@ def connect(
         color: Optional[tuple[float, float, float]] = None,
         width: Optional[int] = None,
         height: Optional[int] = None,
+        verbose: bool = False,
     ):
         """Connect from the PyBullet server.
 
@@ -96,7 +97,7 @@ def connect(
         # Format GUI parameters for launching PyBullet
         options = self._compose_options(color, width, height)
 
-        with redirect_stdout():
+        with redirect_stdout(enabled=not verbose):
             self.client_id = pybullet.connect(const.CONNECTION_TYPE[self.connection_type], options=options)
 
         if self.client_id < 0:
@@ -130,9 +131,9 @@ def _configure_debug_visualizer(self, shadows: bool = True):
         )
         pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SHADOWS, shadows, physicsClientId=self.client_id)
 
-    def disconnect(self):
+    def disconnect(self, verbose: bool = False):
         """Disconnect from the PyBullet server."""
-        with redirect_stdout():
+        with redirect_stdout(enabled=not verbose):
             return pybullet.disconnect(physicsClientId=self.client_id)
 
     @property
@@ -238,12 +239,12 @@ def robot_cell_state(self) -> RobotCellState:
 
     def __enter__(self):
         self._cache_dir = tempfile.TemporaryDirectory(prefix="compas_fab")
-        self.connect()
+        self.connect(verbose=self.verbose)
         return self
 
     def __exit__(self, *args):
         self._cache_dir.cleanup()
-        self.disconnect()
+        self.disconnect(verbose=self.verbose)
 
     @property
     def unordered_disabled_collisions(self) -> set:
@@ -829,8 +830,8 @@ def _handle_concavity(tmp_obj_path, tmp_dir, concavity, mass, mesh_name=""):
             mesh_name += "_"
         tmp_vhacd_obj_path = os.path.join(tmp_dir, mesh_name + "vhacd_temp.obj")
         tmp_log_path = os.path.join(tmp_dir, mesh_name + "log.txt")
-        with redirect_stdout():
-            pybullet.vhacd(tmp_obj_path, tmp_vhacd_obj_path, tmp_log_path)
+        # with redirect_stdout(enabled=not self.verbose):
+        pybullet.vhacd(tmp_obj_path, tmp_vhacd_obj_path, tmp_log_path)
         return tmp_vhacd_obj_path
 
     def _body_from_obj(