Merge branch 'master' into force_torque_sensor_2

Author: gonzalocasas

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.7.0
+current_version = 0.8.0
 message = Bump version to {new_version}
 commit = True
 tag = True

CHANGELOG.rst

@@ -23,6 +23,20 @@ Unreleased
 
 **Deprecated**
 
+0.8.0
+----------
+
+**Changed**
+
+* Updated to COMPAS 0.10
+* Add better support for passive joints on IK, Cartesian and Kinematic planning
+
+**Fixed**
+
+* Use WorldXY's origin as default for robots that are have no parent join on their base
+* Fixed parsing of semantics (SRDF) containing nested groups
+* Fixed DAE support on ROS File loader
+
 0.7.0
 ----------
 

docs/backends/files/panda-demo/docker-compose.yml

@@ -38,6 +38,29 @@ services:
       - file_server
       - file_server.launch
 
+  panda-tf-panda_link0:
+    image: gramaziokohler/ros-panda-planner:19.04
+    container_name: panda-tf-panda_link0
+    environment:
+      - ROS_HOSTNAME=panda-tf-panda_link0
+      - ROS_MASTER_URI=http://ros-master:11311
+    depends_on:
+      - ros-master
+    command:
+      - rosrun
+      - tf
+      - static_transform_publisher
+      - '0'
+      - '0'
+      - '0'
+      - '0'
+      - '0'
+      - '0'
+      - '1'
+      - world
+      - panda_link0
+      - '100'
+
   panda-demo:
     image: gramaziokohler/ros-panda-planner:19.04
     container_name: panda-demo

docs/conf.py

@@ -27,7 +27,7 @@
 year = '2018'
 author = 'Gramazio Kohler Research'
 copyright = '{0}, {1}'.format(year, author)
-version = release = '0.7.0'
+version = release = '0.8.0'
 
 pygments_style = 'sphinx'
 show_authors = True

docs/examples/01_fundamentals/01_frame_and_transformation.rst

@@ -33,7 +33,7 @@ coordinate system.
     # point in F (local coordinates)
     P = Point(35., 35., 35.)
     # point in global (world) coordinates
-    P_ = F.represent_point_in_global_coordinates(P)
+    P_ = F.to_world_coords(P)
 
 
 Industrial robots do not have a common way of describing the pose orientation.

docs/examples/01_fundamentals/02_coordinate_frames.rst

@@ -112,10 +112,10 @@ before sending it as a target pose to the robot.
     frame_WCF = Frame(point, xaxis, yaxis)
     print("frame in WCF", frame_WCF)
 
-    frame_RCF = robot.represent_frame_in_RCF(frame_WCF)
+    frame_RCF = robot.to_local_coords(frame_WCF)
     print("frame in RCF", frame_RCF)
 
-    frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+    frame_WCF = robot.to_world_coords(frame_RCF)
     print("frame in WCF", frame_WCF)
 
 Links

docs/examples/03_backends_ros/05_full_examples.rst

@@ -0,0 +1,60 @@
+*******************************************************************************
+Full examples
+*******************************************************************************
+
+.. note::
+
+    The following examples use the `ROS <http://www.ros.org/>`_ backend
+    and the MoveI! planner with the Franka Emika Panda robots.
+    Before running them, please make sure you have the :ref:`ROS backend <ros_backend>`
+    correctly configured and the :ref:`Panda Demo <ros_bundles_list>` started.
+
+The following lists the 4 main features of the integrated motion planning framework:
+forward and inverse kinematics, cartesian and kinematic planning including loading
+the entire robot model over ROS, and a complete Grasshopper canvas as a playground
+for these features.
+
+Forward Kinematics
+=====================
+
+.. literalinclude :: files/02_forward_kinematics_ros_loader.py
+   :language: python
+
+Inverse Kinematics
+=====================
+
+.. literalinclude :: files/02_inverse_kinematics_ros_loader.py
+   :language: python
+
+Plan cartesian motion
+=====================
+
+.. literalinclude :: files/04_plan_cartesian_motion_ros_loader.py
+   :language: python
+
+Plan motion
+===========
+
+.. literalinclude :: files/04_plan_motion_ros_loader.py
+   :language: python
+
+Grasshopper playground
+======================
+
+The following Grasshopper canvas demonstrate all these features combined in
+a single document, as a reference of how these features could be integrated:
+
+
+.. raw:: html
+
+    <div class="card bg-light">
+    <div class="card-body">
+    <div class="card-title">Download</div>
+
+* :download:`Robot playground (Grasshopper) (.GHX) <files/robot-playground.ghx>`
+
+.. raw:: html
+
+    </div>
+    </div>
+

docs/examples/03_backends_ros/files/02_forward_kinematics.py

@@ -5,7 +5,7 @@
 configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
 frame_RCF = robot.forward_kinematics(configuration)
-frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+frame_WCF = robot.to_world_coords(frame_RCF)
 
 print("Frame in the robot's coordinate system")
 print(frame_RCF)

docs/examples/03_backends_ros/files/02_forward_kinematics_ros.py

@@ -7,7 +7,7 @@
     configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
 
     frame_RCF = robot.forward_kinematics(configuration)
-    frame_WCF = robot.represent_frame_in_WCF(frame_RCF)
+    frame_WCF = robot.to_world_coords(frame_RCF)
 
     print("Frame in the robot's coordinate system")
     print(frame_RCF)

docs/examples/03_backends_ros/files/02_forward_kinematics_ros_loader.py

@@ -0,0 +1,28 @@
+from compas.robots import RobotModel
+
+from compas_fab.backends import RosClient
+from compas_fab.backends import RosFileServerLoader
+from compas_fab.robots import Configuration
+from compas_fab.robots import Robot
+from compas_fab.robots import RobotSemantics
+
+with RosClient() as client:
+    loader = RosFileServerLoader(client)
+
+    urdf = loader.load_urdf()
+    srdf = loader.load_srdf()
+
+    model = RobotModel.from_urdf_string(urdf)
+    semantics = RobotSemantics.from_srdf_string(srdf, model)
+
+    robot = Robot(model, semantics=semantics, client=client)
+
+    configuration = Configuration.from_prismatic_and_revolute_values([0.], [-2.238, -1.153, -2.174, 0.185, 0.667, 0.])
+
+    frame_RCF = robot.forward_kinematics(configuration)
+    frame_WCF = robot.to_world_coords(frame_RCF)
+
+    print("Frame in the robot's coordinate system")
+    print(frame_RCF)
+    print("Frame in the world coordinate system")
+    print(frame_WCF)