Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.

Unreleased

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

0.19.1

Added

Changed

Fixed

  • Fixed bundling of ghuser components

Deprecated

Removed

0.19.0

Added

  • Added documentation for Grasshopper components.

Changed

  • Updated build-ghuser-components task

  • Updated to COMPAS 1.7

Fixed

Deprecated

Removed

0.18.3

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

0.18.2

Added

Changed

Fixed

Deprecated

Removed

0.18.1

Fixed

  • Fix error message during uninstall of Grasshopper components

0.18.0

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

0.17.0

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.ros.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

0.16.0

Changed

  • Updated to COMPAS 1.0

0.15.0

Added

Changed

  • Updated to COMPAS 0.19

Fixed

Deprecated

Removed

0.14.0

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

0.13.1

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

0.13.0

Changed

  • Updated to COMPAS 0.17

0.12.0

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.

Removed

0.11.0

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

0.10.2

Added

  • Added Python 3.8 support

Changed

  • Updated to COMPAS 0.13

0.10.1

Fixed

  • Fix DAE parser to handle polylist meshes

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

0.10.0

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

0.9.0

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

0.8.0

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

0.7.0

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.

0.6.0

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

0.5.0

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.

0.4.1

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.

0.4.0

Added

  • Color parameter to Rhino robot artist

Changed

  • Updated to COMPAS 0.4.10

0.3.0

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

0.2.1

Added

  • Robot artist for Blender

0.2.0

Added

  • First open source release!

  • V-REP and ROS clients

  • Updated to COMPAS 0.3.2

0.1.0

Added

  • Initial version