Changelog

Added

• Added Forward Kinematics GH component.

Changed

• Updated install process of GH components.

• Added caching to the GH component that visualizes scene, to avoid retrieving the whole scene too often.

Fixed

• Fixed pre-Noetic support on the MoveIt planner when a tool is attached to the robot.

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 usage of tangent_points_to_circle_xy in Spherical Wrist solver to work with COMPAS v1.16 and older.

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).

Deprecated

Removed

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.

Deprecated

Removed

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.

Added

• Added compas_fab.robots.ReachabilityMap

• Added compas_fab.robots.DeviationVectorsGenerator

• Added compas_fab.robots.OrthonormalVectorsFromAxisGenerator

Changed

Fixed

• Fixed ROSmsg import on GH components for publish/subscribe.

Deprecated

Removed

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.

Removed

Added

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

Changed

Fixed

Deprecated

Removed

Added

Changed

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

Fixed

Deprecated

Removed

Added

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

Fixed

• Consider AttachedCollisionMesh in AnalyticalInverseKinematics.

Removed

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

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

Deprecated

Removed

Added

Changed

Fixed

• Fixed bundling of ghuser components

Deprecated

Removed

Added

• Added documentation for Grasshopper components.

• Added Grasshopper components to publish and subscribe to ROS topics.

Changed

• Updated build-ghuser-components task

• Updated to COMPAS 1.7

Fixed

Deprecated

Removed

Added

Changed

• Made consistent use of repr in nested objects

Fixed

• Fixed bug in compas.backends.PyBulletClient.convert_mesh_to_body circumventing PyBullet’s propensity to cache

Deprecated

Removed

Added

Changed

Fixed

Deprecated

Removed

Fixed

• Fix error message during uninstall of Grasshopper components

Added

• Grasshopper components now also for Mac

• Added support for MoveIt on ROS Noetic

• Added support for Python 3.9

Changed

• The Configuration class has moved to compas.robots, but is still aliased within compas_fab.robots

• Lazily load V-REP remoteApi library

Fixed

• Fixed repr() of ROSmsg class

• Fixed data type of secs and nsecs in Time ROS message

• Fixed CollisionObject.to_collision_meshes

• Fixed serialization of joint names for compas_fab.robots.JointTrajectoryPoint

• Fixed deserialization of AttachedCollisionMesh

Deprecated

• compas_fab.robots.Configuration is being deprecated in favor of compas.robots.Configuration

Added

• Added python components library for Grasshopper

• Added compas_fab.robots.PyBulletClient.get_robot_configuration

• Added compas_fab.robots.Robot.ensure_geometry

• Added serialization methods to compas_fab.robots.CollisionMesh and compas_fab.robots.AttachedCollisionMesh

• Added attached_collision_meshes attribute to compas_fab.robots.JointTrajectory

• Added compas_fab.backends.PlanningSceneComponents.__ne__

• Added dictionary behavior to compas_fab.robots.JointTrajectoryPoint.merge

• Added length limitations to attributes of compas_fab.robots.JointTrajectoryPoint.merge

Changed

• Updated to COMPAS 1.1

• Configuration & JointTrajectoryPoint: the attributes values and types changed to joint_values and joint_types respectively.

Fixed

• Fixed bug in the PyBullet client where one could not update the configuration of a robot with an attached collision mesh

• Fixed bug existing since version 0.12 where compas_fab.backends.RosClient.add_attached_collision_mesh added collision objects to the scene, but did not attached them to the robot

• Fixed bug when keys with None values were passed to the planner.

Deprecated

Removed

• Remove compas_fab.robots.JointTrajectoryPoint.merge

Changed

• Updated to COMPAS 1.0

Added

Changed

• Updated to COMPAS 0.19

Fixed

Deprecated

Removed

Added

• Added new backend feature ResetPlanningScene

• Added MoveItResetPlanningScene

Changed

• Updated to COMPAS 0.18

• Use compas.IPY to check for IronPython

Fixed

• Fixed bug in remove_attached_tool of PlanningScene

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

Changed

• Updated to COMPAS 0.17

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.

Removed

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

Added

• Added Python 3.8 support

Changed

• Updated to COMPAS 0.13

Fixed

• Fix DAE parser to handle polylist meshes

• Bumped roslibpy dependency to 0.7.1 to fix blocking service call issue on Mac OS

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

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

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

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.

Changed

• Updated COMPAS dependency to 0.8.1

• Base robot artist functionality moved to compas.robots.RobotModel

• Robot: inverse_kinematics returns now group configuration

• Robot: forward_kinematics has new parameter backend to select either client FK or model FK.

• Robot: forward_kinematics returns now frame_RCF

• Robot: forward_kinematics doesn’t need full configuration anymore

• Fixed delays when modifying the planning scene of ROS.

Added

• Added jump_threshold parameter to plan_cartesian_motion

• Added action_name parameter to reconfigure joint trajectory follower action.

• Added support to retrieve the full planning scene.

Removed

• Removed compas_fab.Robot.get_configuration

Changed

• ROS Client: renamed compute_cartesian_path to plan_cartesian_motion

• ROS Client: renamed motion_plan_goal_frame and motion_plan_goal_configuration to plan_motion

• ROS Client: removed methods from Robot that are now handled with PlanningScene, e.g. add_collision_mesh and add_attached_collision_mesh

• ROS Client: change the return type of plan_motion and plan_cartesian_motion to the new trajectory classes.

• ROS File Server Loader: moved to compas_fab.backends package

• ROS File Server Loader: renamed load to load_urdf and sync’d API to other loaders.

• V-REP Client: renamed get_end_effector_pose to forward_kinematics

• V-REP Client: renamed find_robot_states to inverse_kinematics

• V-REP Client: renamed find_path_plan_to_config to plan_motion_to_config

• V-REP Client: renamed find_path_plan to plan_motion

• V-REP Client: changed is_connected to become a property

• Made robot_artist default None on Robot constructor

• Changed PathPlan class to use the new trajectory classes

Added

• Added scale method to Configuration

• Implemented Constraints (OrientationConstraint, PositionConstraint, JointConstraint) to use with plan_motion

• Implemented PlanningScene, CollisionMesh and AttachedCollisionMesh

• Added generic representations for motion planning requests (JointTrajectory, JointTrajectoryPoint, Duration)

• Added UR5 robot model data for example purposes

• Added several doc examples

Removed

• Aliases for Frame and Transformation. Import from compas.geometry instead.

Fixed

• Fixed missing library for V-REP on macOS

Deprecated

• The aliases for Frame and Transformation will be removed, in the future, import directly from compas core.

Added

• Color parameter to Rhino robot artist

Changed

• Updated to COMPAS 0.4.10

Added

• Deeper integration with MoveIt! motion planning services

• Added sync and async versions of many ROS service calls

• Added support for cancellable tasks/actions

Changed

• Renamed UrdfImporter to RosFileServerLoader

• Updated to COMPAS 0.4.8

Added

• Robot artist for Blender

Added

• First open source release!

• V-REP and ROS clients

• Updated to COMPAS 0.3.2

Added

• Initial version