COMPAS FAB v0.27.0

Added

• Added support for attached and non-attached collision mesh visualization to the Robot Visualize GH component.
• Added a prefix to all GH components.
• Added append to the operations of the Collision Mesh GH component.

Changed

• Changed behavior of Attach Tool GH component to only attach the tool but not add it to the planning scene state.
• Duration class takes floats as sec variable.
• Changed the behavior of forward_kinematics, inverse_kinematics, iter_inverse_kinematics, plan_cartesian_motion and constraints construction methods (orientation_constraint_from_frame, position_constraint_from_frame, constraints_from_frame) in Robot class to use the frame of the attached tool if a tool is attached. This behavior can be reverted back (ie. only calculate T0CF) using the flag use_attached_tool_frame of all these methods.

Fixed

• Fixed DH params for analytical IK solver of UR3e and UR10e.
• Fixed Kinetic support on IK, FK, and motion planning calls.
• Fixed Publish to topic Grasshopper component when the ros_client has been replaced (eg. disconnected and reconnected).
• Fixed usage of tangent_points_to_circle_xy in Spherica Wrist solver to work with COMPAS v1.16 and older.