COMPAS FAB v0.13.1

Added

• Added name property to Tool class.

Fixed

• Fixed bug in add_attached_tool of PlanningScene
• Fixed frame_id generation when tool name changes
• Fixed freeze with some sync planning scene methods on Grasshopper/IronPython

COMPAS FAB v0.13.0

Changed

• Updated to COMPAS 0.17

COMPAS FAB v0.12.0

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.

COMPAS FAB v0.11.0

Added

• Added optional joint_names to Configuration
• Added Configuration.scaled
• Added full_joint_state to Robot.inverse_kinematics
• Added Semantics.get_all_configurable_joints

Changed

• Updated to COMPAS 0.15
• Construct full_configuration with values, types, joint_names in Robot rather than in MoveItPlanner
• MoveItPlanner returns start_configuration with set joint_names
• Removed parameter names from RobotArtist.update
• Updated Grasshopper examples
• Robot: forward_kinematics returns now frame_WCF
• MoveItPlanner: forward_kinematics takes now instance of Configuration and robot
• MoveItPlanner: inverse_kinematics takes now instance of Configuration and robot
• Property compas_fab.robots.Robot.artist does not try to scale robot
  geometry if links and/or joints are not defined.
• In compas_fab.robots.constraints.JointConstraint, added tolerance_above and
  tolerance_below for allowing asymmetrical constraints.
• In compas_fab.robots.Robot, changed the constraints_from_configuration
  function with tolerances_above and tolerances_below.
• compas_fab.robots.CollisionMesh.scale now takes a scale factor
  instead of a compas.geometry.Scale instance as an argument.

Fixed

• Convert constraints on inverse kinematics and cartesian planner to ROS messages
• Fix support for trajectory constraints on kinematic planner

COMPAS FAB v0.10.2

Added

• Added Python 3.8 support

Changed

• Updated to COMPAS 0.13

COMPAS FAB v0.10.1

Fixed

• Fix DAE parser to handle polylist meshes
• Bumped roslibpy dependency to 0.7.1 to fix blocking service call issue on Mac OS

COMPAS FAB v0.10.0

Added

• Added attach_tool, detach_tool, draw_attached_tool, from_tool0_to_attached_tool and from_attached_tool_to_tool0 to Robot
• Added attach_tool and detach_tool to Artist
• Added add_attached_tool and remove_attached_tool to PlanningScene
• Added redraw/clear layer support to RobotArtist for Rhino
• Added material/color support for DAE files on ROS file loader

Changed

• Changed inverse_kinematics, plan_cartesian_motion and plan_motion to use the attached_tool's AttachedCollisionMesh if set

Fixed

• Fixed mutable init parameters of Configuration, JointTrajectoryPoint, JointTrajectory and Robot.basic.
• Fixed interface of RobotArtist for Blender
• Fixed DAE parsing of meshes with multiple triangle sets

COMPAS FAB v0.9.0

Added

• Added load_robot method to ROS client to simplify loading robots from running ROS setup.
• Added compas_fab.robots.Wrench: a Wrench class representing force in free space, separated into its linear (force) and angular (torque) parts.
• Added compas_fab.robots.Inertia: a Inertia class representing spatial distribution of mass in a rigid body

Changed

• Updated to COMPAS 0.11

COMPAS FAB v0.8.0

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

COMPAS FAB v0.7.0

Changed

• Fixed Python 2 vs Python 3 incompatibilities in compas_fab.sensors module
• Changed example for loading PosConCM (includes parity argument, differs from PosCon3D)
• Changed format compas_fab.sensors.baumer.PosConCM.set_flex_mount()
• Changed tasks.py to run invoke test
• Renamed compas_fab.backends.CancellableTask to compas_fab.backends.CancellableFutureResult
• ROS client: changed joint trajectory follower (follow_joint_trajectory) to support generic JointTrajectory arguments.
• ROS client: changed return type of trajectory execution methods to CancellableFutureResult

Added

• Added compas_fab.sensors.baumer.PosCon3D.reset()
• Added compas_fab.sensors.baumer.PosConCM.reset()
• ROS client: added support for MoveIt! execution action via client.execute_joint_trajectory.
• Added compas_fab.backends.FutureResult class to deal with long-running async tasks

Removed

• Removed compas_fab.sensors.baumer.PosConCM.get_live_monitor_data()
• Removed non-implemented methods from compas_fab.robots.Robot: send_frame, send_configuration, send_trajectory

Fixed

• Fixed missing planner initialization when used without context manager.