COMPAS FAB v0.26.0

Added

• Added a new GH component - ConstraintsFromTargetConfiguration
• Added some missing information to GH and V-REP docs.
• Added a Robot().attached_tools property to allow attaching tools to multiple planning groups simultaneously.

Changed

• Replaced icon for GH component - ConstraintsFromPlane
• Robot().attached_tool now points to the tool attached to the robot.main_group_name.
• Added parameter group to the AttachToolComponent

Fixed

• Attaching a tool to a planning group doesn't overwrite the tool attached to other groups.
• Changed Trajectory to inherit from compas.data.Data class to fix a serialization error that expects guid to be present.

COMPAS FAB v0.25.0

Changed

• Changed Grasshopper components to default to icon display.
• Changed to use compas_rhino.conversions to coerce frames.

Fixed

• Fixed link parameter name when doing FK inside the GH component to display attached collision meshes.
• Fixed transform of the attached collision mesh frame inside the GH component.
• Fixed uninstall process not removing GH components.

COMPAS FAB v0.24.0

Added

• Added compas_fab.robots.ReachabilityMap
• Added compas_fab.robots.DeviationVectorsGenerator
• Added compas_fab.robots.OrthonormalVectorsFromAxisGenerator

COMPAS FAB v0.23.0

Added

• Added compas_fab.backends.PyBulletClient.load_ur5() method to simplify some examples.
• Added Grasshopper components to get a zero configuration and to merge two configurations.

Changed

• Moved all public API classes in compas_fab.backends to second-level imports.
• Updated to COMPAS 1.14.
• Simplified call to remove an attached tool by also removing the remaining collision mesh from the world automatically.

Fixed

• Fixed PyBullet loading of meshes.
• Fixed missing flag in reset planning scene call.
• Fixed issue on cartesian and kinematic planning when model contains passive joints.
• Fixed pose of collision mesh in ROS Noetic being ignored.

Deprecated

• Deprecated compas_fab.utilities.write_data_to_json in favor of compas.data.json_dump.
• Deprecated compas_fab.utilities.read_data_from_json in favor of compas.data.json_load.

COMPAS FAB v0.22.0

Added

• Added Attach Tool GH component: crowd-coded at McNeel's Robotic Fabrication Workshop!

COMPAS FAB v0.21.1

Changed

• Changed default wire visibility to hidden in some GH components for cleaner Grasshopper files.

COMPAS FAB v0.21.0

Added

• Added a new backend: analytical kinematics for spherical-wrist and offset-wrist robots.

Fixed

• Consider AttachedCollisionMesh in AnalyticalInverseKinematics.

COMPAS FAB v0.20.1

Removed

• Removed the bundled binary files for the VrepClient remote API. To use V-REP, use the remoteApi binaries provided with the software.

COMPAS FAB v0.20.0

Added

• Added PoseArray, MultiArrayDimension, MultiArrayLayout, Int8MultiArray, Float32MultiArray, Int32 to compas_fab.backends.ros.messages
• Added unordered_disabled_collisions attribute to PyBulletClient and RobotSemantics
• Added better support for concave meshes in the PyBulletClient
• Added Robot.iter_inverse_kinematics to allow iterating over all IK solutions provided by a solver

Changed

• Changed the backend feature InverseKinematics.inverse_kinematics to be a generator. As a consequence of this, ClientInterface.inverse_kinematics and PlannerInterface.inverse_kinematics have changed to generators as well
• Standardized the yielded type of InverseKinematics.inverse_kinematics across the PyBullet, MoveIt and V-REP planners
• Added iterative accurate IK resolution for PyBullet

Fixed

• Fixed UnsupportedOperation error when using PyBulletClient in Jupyter notebook (raised by redirect_stdout)
• Fixed JointTrajectoryPoint.from_data to be backward-compatible with JSON data generated before compas_fab 0.18
• Fixed JointTrajectory.from_data to be backward-compatible with JSON data generated before compas_fab 0.17

COMPAS FAB v0.19.1

Fixed

• Fixed bundling of ghuser components