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COMPAS FAB v0.12.0

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@gonzalocasas gonzalocasas released this 28 Oct 06:49
v0.12.0
63649e8

Added

  • PyBullet integration: added support for PyBullet client and forward/inverse kinematic solver
  • Added ClientInterface, PlannerInterface and various backend feature interfaces
  • Added implementations of these interfaces for ROS and V-REP
  • Added attributes dictionary to Robot class
  • Added compas_fab.robots.Tool.from_t0cf_to_tcf
  • Added compas_fab.robots.Tool.from_tcf_to_t0cf
  • Added joint_names as optional parameter for all compas_fab.robots.Configuration constructors
  • Added compas_fab.robots.Configuration.iter_differences
  • Added compas_fab.robots.Configuration.max_difference
  • Added compas_fab.robots.Configuration.close_to
  • Added compas_fab.robots.Configuration.merge
  • Added compas_fab.robots.JointTrajectoryPoint.merge
  • Added compas_fab.robots.Semantics.group_states
  • Added compas_fab.robots.Robot.get_configuration_from_group_state

Changed

  • Updated to COMPAS 0.16.9
  • Renamed compas_fab.robots.Robot.to_local_coords to compas_fab.robots.Robot.to_local_coordinates
  • Renamed compas_fab.robots.Robot.to_world_coords to compas_fab.robots.Robot.to_world_coordinates
  • Backend clients have been restructured according to the new interfaces
  • Parameter backend of forward kinematics has been renamed to solver
  • The signatures of all kinematics, motion planning and planning scene management methods have been homogenized across backend clients and within Robot
  • All examples have been updated to reflect these changes
  • The installer to Rhino has been unified with COMPAS core. Now running python -m compas_rhino.install will also detect and install COMPAS FAB and its dependencies.
  • Renamed all RobotArtist implementations to RobotModelArtist to reflect
    the fact they depend on compas.robots.RobotModel.
  • Renamed compas_fab.robots.Robot.from_tool0_to_attached_tool to compas_fab.robots.Robot.from_t0cf_to_tcf
  • Renamed compas_fab.robots.Robot.from_attached_tool_to_tool0 to compas_fab.robots.Robot.from_tcf_to_t0cf
  • Changed ROS planning scene methods to be synchronous.

Fixed

  • Attached collision meshes are included in inverse kinematics calculations in ROS

Deprecated

  • The methods forward_kinematics, inverse_kinematics, plan_cartesian_motion and plan_motion
    of Robot class have been refactored, but a backwards-compatible deprecated version with the old
    signatures still exists suffixed by _deprecated, e.g. forward_kinematics_deprecated.
  • RobotArtist are deprecated in favor of RobotModelArtist.
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