Changelog¶

Added¶

• Dependency compas_mobile_robot_reloc added as it is the broken out localization module.

Changed¶

• Bumped compas_fab to v0.15.0.

• Added attribute skip to rapid_clay_formations_fab.fab_data.PlaceElement to replace use of attribute placed. skip is meant to be set for current run only.

Removed¶

• rapid_clay_formations_fab.localization removed from package since it is now

• Removed rapid_clay_formations_fab.utils.temp_change_compas_precision.

Added¶

• Added rhino_install and proxy subcommands to command rcf.

Changed¶

• rapid_clay_formations_fab.robots.AbbRcfClient.check_reconnect renamed to ensure_connection. ensure_connection only restarts docker container once, after that it tries pinging multiple times.

• fab_conf.robot_client.speed.pick_place split into two different key-values pairs.

Removed¶

• Removed kwarg station_egress distance and corresponding property station_egress_frame from rapid_clay_formations_fab.robots.PickStation

Added¶

• ABB robot control example added to grasshopper examples.

• compas_rcf.abb.run documented under Usage in docs.

Changed¶

• Second level imports implemented. So compas_rcf.fab_data.clay_objs.ClayBullet can be imported as compas_rcf.fab_data.ClayBullet.

• Examples renamed to Usage in documentation.

• compas_rcf.fabrication renamed to compas_rcf.fab_data.

• compas_rcf.fabrication.clay_obj renamed to compas_rcf.fab_data.clay_objs.

• compas_rcf.fab_data.clay_objs.ClayBulletEncoder now moved to compas_rcf.fab_data.tools.

• compas_rcf.utils.json_ and compas_rcf.utils.csv_reports merged and moved to compas_rcf.fab_data.tools. csv_reports can be run using compas_rcf.fab_data.csv_report.

• compas_rcf.fab_data.network merged with compas_rcf.fab_data.clay_objs.

• compas_rcf.abb_rcf_runner moved to compas_rcf.abb.run.

• compas_rcf.abb.programs renamed to compas_rcf.abb.procedure.

• Renamed compas_rcf.abb.connectivity.check_connection to compas_rcf.abb.connectivity.check_reconnect

• Merged compas_rcf.abb.helpers and compas_rcf.abb.connectivity to helpers. So DOCKER_COMPOSE_PATHS, ROBOT_IPS, ping and check_reconnect can now be found in helpers.

• compas_rcf

• compas_rcf.fabrication.conf.ZONE_DICT moved to compas_rcf.abb.helpers.ZONE_DICT

• A lot of changes to package structure. Might be documented here more later.

Removed¶

• sphinx_autodoc_typehints plugin since not all of the code has type hints, but there’s annotations in docstrings for most.

• Unused functions in compas_rcf.utils.util_funcs.

Added¶

• Draft of grasshopper example showcasing robot control using compas_rrc.

• Command line argument to skip writing progress while running compas_rcf.abb_runner: --skip-progress-file.

Changed¶

• Replaced pathlib with os.path in compas_rcf.abb.connectivity for Python 2 compatibility.

• compas_rcf.abb_runner now writes progress to json while waiting for robot, to make sure the robot isn’t idle between loops.

• Some improvements to the compas_rcf.utils.csv_reports module, more data points and more informative headers.

Added¶

• compas_rcf.abb.helpers.RapidToolData now takes optional tolerance for tooldata values.

• compas_rcf.docker.docker_cmds._run is a new helper function for docker commands that works in both Python 2 and 3.

• compose_up has a new keyword check_output that toggles return code check of subprocess call.

• compose_down added to compas_rcf.docker

Changed¶

• base-docker-compose.yml in src/compas_rcf/docker/compose_files/abb renamed to master-bridge-docker-compose.yml

• dict key abb_driver in compas_rcf.abb.connectivity.DOCKER_COMPOSE_PATHS renamed to driver.

• env_vars in compas_rcf.abb.connectivity.connection_check is now a stand alone keyword argument instead of being picked up from **kwargs.

• RapidTooldata.from_plane_point creates a RapidTooldata object without using from_frame_point.

Added¶

• Class compas_rcf.abb.helpers.RapidToolData added to create Rapid tooldata from compas and Rhino geometries.

• Class property weight added to compas_rcf.fabrication.ClayBullet.

• MyPy configuration so Mypy can find imports when running from Vim + Ale. Libraries without typehints set to ignore_missing_imports.

Changed¶

• compas_rcf.abb.helpers split into helpers and connectivity make helpers importable from IronPython.

• Robot instruction in compas_rcf.abb.programs.pick_bullet to go to picking_frame now specifies zone_pick instead of zone_travel to make sure that the tool actuators activate at the correct time.

• Module compas_rcf.utils.csv_reports now adds more data from ClayBullet instances.

• compas_rcf.install_rhino, compas_rcf.utils.compas_to_rhino and compas_rcf.rhino_to_compas now moved to new package compas_rcf.rhino to more clearly show where an environment with Rhino is necessary. install_rhino is however still available from compas_rcf.install_rhino.

• Renamed compas_rcf.utils.util_funcs.list_elem_w_index_wrap to wrap_list.

Changed¶

• compas_rcf.fabrication.abb_runner moved to compas_rcf.abb_runner.

Added¶

• Prompt to confirm start of fabrication added to compas_rcf.fabrication.abb_runner.abb_run, replacing confirmation in get_settings.

Changed¶

• Docstring changes in compas_rcf.utils.compas_to_rhino and rhino_to_compas.

• Redone the reference pages in the docs and fixed import problems.

• Replaced usage of AttrDict from confuse.Configuration in compas_rcf.fabrication.abb_runner to use the original confuse.Configuration object. E.g. fab_conf["target"].get() instead of fab_conf.target. This is to make the use of the Configuration object uniform across modules.

• ZONE_DICT moved from compas_rcf.abb.helpers to compas_rcf.fabrication.conf, mainly due to weird import errors.

• confuse.Template object confuse.Path vendorised from upstream master and put in compas_rcf.fabrication.conf.

• Renamed logging to log in compas_rcf.fabrication.abb_runner to make usage of the logging object uniform across modules.

• Added logging to compas_rcf.abb.helpers, compas_rcf.fabrication.conf, compas_rcf.abb.programs,

• Directories set up previously by globals in compas_rcf.fabrication.abb_runner is now accessible using the configuration file. The old globals are now the default value in the configuration.

• Moved submodule docker from compas_rcf.utils.docker to compas_rcf.docker including its submodules and Docker-Compose files.

• Refactored connection check from compas_rcf.fabrication.abb_runner to its own function: compas_rcf.abb.helpers.connection_check.

• Refactored logging setup from compas_rcf.fabrication.abb_runner.abb_runner to it’s own function: compas_rcf.fabrication.abb_runner.logging_setup.

• Refactored fabrication data analysis and prompts for skipping or placing bullets in compas_rcf.fabrication.abb_runner.abb_runner to its own function: compas_rcf.fabrication.abb_runner.setup_fab_data.

• Refactored compas_rcf.fabrication.abb_runner.get_setup to compas_rcf.fabrication.conf.interactive_conf_setup.

• Moved compas_rcf.fabrication.abb_runner.initial_setup to: compas_rcf.abb.programs.pre_procedure.

• Moved compas_rcf.fabrication.abb_runner.shutdown_procedure to: compas_rcf.abb.programs.post_procedure.

• Moved compas_rcf.fabrication.abb_runner.send_picking to: compas_rcf.abb.programs.pick_bullet.

• Moved compas_rcf.fabrication.abb_runner.send_placing to: compas_rcf.abb.programs.place_bullet.

• Moved compas_rcf.fabrication.abb_runner.send_grip_release to: compas_rcf.abb.programs.grip_and_release.

• Logging setup is now run in the if __name__ = "__main__" part of compas_rcf.fabrication.abb_runner.

Removed¶

• Prompt to confirm settings removed in compas_rcf.fabrication.abb_runner.get_settings" in favour of a later confirmation of the whole setup inabb_run`.

Added¶

• Configuration option for timeout and wait times for docker commands in compas_rcf.fabrication.runner.

Changed¶

• Skip and/or place logic reworked in compas_rcf.fabrication.abb_runner.

• abb_runner is now verbose by default, --verbose is removed in favour of --quiet.

• Removed print statements from abb_runner and replaced them with logging.info calls.

• Fixed id attribute logic and renamed it to bullet_id. classmethod compas_rcf.fabrication.clay_objs.ClayBullet.from_data is backwards compatible.

Changed¶

• compas_rcf.fabrication.abb_runner now prints progress updates to Flex pendant.

• abb_runner now dumps list of ClayBullets for every bullet into file with same filename as input JSON but with IN_PROGRESS added to start.

• abb_runner now checks if attribute placed is set on ClayBullet and if so asks user if it should be skipped or placed (with the option to set skip and place for all future bullets with placed attribute). This file is deleted when script exits cleanly.

• compas_rcf.utils.csv_ renamed to csv_reports. Instead of a conversion tool it now creates an opinionated report from JSON file. It can also handle directories and multiple files as inputs.

Added¶

• Settings regarding picking grid added to compas_rcf.fabrication.conf.

Changed¶

• Function get_picking_frame in compas_rcf.fabrication.abb_runner reworked into pick_frame_from_grid which reads settings from conf to return frames from a grid of picking points.

• JSON dump after end of abb_runner now dumps original list (clay_bullets) instead of a new.

Changed¶

• Reworded note in method compas_rcf.utils.rhino_to_compas.rgplane_to_cgplane to fix encoding error in Grasshopper.

Added¶

• Dependency prompt-toolkit and Pygments.

• Logging to compas_rcf.utils.docker.docker_cmds.

• compas_rcf.fabrication.abb_runner now dumps placed ClayBullets after completed run, together with attribute placed with time of placement in UNIX epoch.

• Functions send_picking & send_placing in compas_rcf.fabrication.abb_runner are now timed using Watch from compas_rrc and the sum of their durations are stored as ClayBullet.cycle_time.

• Added command line argument to compas_rcf.fabrication.abb_runner: --skip-logfile.

• Module for converting JSON to CSV: compas_rcf.utils.csv_

Changed¶

• Replaced function compas_rcf.utils.ui.print_conf_w_colors with pygment_yaml, pretty printing yaml config using prompt_toolkit and pygments.

• Added check of Exception message in compas_rcf.abb.helpers to narrow error catching.

• Paths in compas_rcf.fabrication.abb_runner are changed to be pathlib.Path objects.

• Changed compas_rcf.utils.rhino_to_compas.rgplane_to_cgframe to correctly inherit X and Y axis from Rhino plane.

• Added a note to rgplane_to_cgplane to clarify that X and Y axises are note stored in compas planes.

Removed¶

• Unused functions in compas_rcf.utils.docker.docker_cmds.

Added¶

• Docker compose integration via compas_rcf.utils.docker to set up needed services for compas_rcf.fabrication.abb_runner.

• Added ping function to compas_rcf.abb.helpers, sends NoOp to controller and waits for feedback.

Changed¶

• Reordered functions in abb_runner and added comments to section of the functions.

Changed¶

• Grasshopper example file create_bullets_read_write_json updated to handle Grasshopper trees and take vkeys as an attribute.

• compas_rcf.fabrication.clay_obj.ClayBullet property setter trajectory_to and trajectory_from updated to handle list of planes.

• compas_rcf.utils.util_funcs.ensure_frame updated to convert point to Frame with given point and flipped XY plane.

• Updated config for black to also target py2.7 so it doesn’t add trailing commas to lists. (Which IronPy 2.7 can’t handle)

Added¶

• Attribute dictionary added to class compas_rcf.fabrication.clay_obj.ClayBullet

• Attribute vkey added to ClayBullet to store vertex key from compas.datastructures.Network

• Simple import tests added

Changed¶

• Property Vector in ClayBullet changed to represent the bullets center as a line.

Added¶

• API docs. Some modules have issues but a lot of them works.

Changed¶

• More fixes of imports.

• Split of Rhino dependent functions from compas_rcf.utils.util_funcs to compas_rcf.utils.util_funcs_rhino.

Added¶

• Properties centroid_frame, compressed_centroid_frame, centroid_plane added compressed_centroid_plane to compas_rcf.fabrication.clay_objs.ClayBullet.

• Classmethod from_compressed_centroid_frame_like added to ClayBullet.

Changed¶

• compas_rcf.fabrication.abb_rcf_runner renamed to compas_rcf.fabrication.abb_runner.

• Typos in abb_runner fixed.

• Trying to set up imports better between modules

• Fixes for tkinter file dialog in compas_rcf.utils.ui.

• Property post_planes renamed to trajectory_from in ClayBullet.

Added¶

• Logging added to compas_rcf.fabrication.abb_rcf_runner.

• Makes sure needles are retracted at start and end of abb_rcf_runner.

• Hardcoded compression at pickup in abb_rcf_runner. Needs to be removed.

• Added note about compas to README.md

• Added note about compatibility with Python 2 and < 3.6.

Changed¶

• Whole package has had its imports sorted

• Set up black formatting and formatted everything

• Travis now handles build and releasing of tagged commit, using setuptools_scm to handle version setup.

• setuptools_scm replaces MANIFEST.in in handling what to include when building.

• Package now requires Python >= 3.6 for installation.

Removed¶

• Lots of dev deps

Added¶

• Module compas_rcf.fabrication.conf added. Reads yaml files for fabrication settings. Provides template to validate files.

• Package confuse new dependecy, (”painless YAML config files for Python”)

• Default config file (in YAML) added to compas_rcf.fabrication

• Module compas_rcf.abb.helpers added, for now only a dict mapping Zone data names to absolute value

Changed¶

• compas_rcf.fabrication.abb_rcf_runner updated to use YAML configs.

• docker compose dirs moved from ./docker to .data/docker-compose

Removed¶

• Hard-coded fabrication configuration removed from compas_rcf.fabrication.abb_rcf_runner. Default values now stored in compas_rcf.fabrication.default_config.yaml

Added¶

• Print colored dict function added to compas_rcf.utils.ui.

• Packages Colorama and Questionary added to to requirements. They are used for CLI runner.

Changed¶

• compas_rcf.fabrication.abb_fabrication_non_interactive refactored

• compas_rcf.fabrication.abb_fabrication_non_interactive renamed to abb_rcf_runner.

• compas_rcf.fabrication.abb_rcf_runner now takes args and can edit conf setup during runtime.

• compas.rcf.fabrication.ClayBullet property placement_frame changed to be where the tool should stop while placing. New property location is the new required argument for the object and defines the clay bullets lowest point. placement_frame is derived from location and compressed height.

• ClayBulley attributes pre_frames and post_frames renamed to trajectory_to and trajectory_from to be more descriptive.

• Fixes to docs: In Updating section of getting_started.rst python was changed to pip. Inline comments removed from installation instructions.

Changed¶

• After some testing to find the best way to distribute this package given the dependency on private repository compas_rrc I’ve concluded to keep uploading to PyPi. This means that compas_rrc will need to be installed manually before this package, since PyPi does not allow giving a “direct dependency`.

Added¶

• Set up sphinx docs

• Added deploy job for travis

• Open file dialog function added to new module compas_rcf.util.ui

• Open file dialog implemented in ABB fabrication runner

Changed¶

• Travis Python 3 version bumped up to 3.7

• docs moved from docsource to docs

• sphinx target directory now dist/docs

• Corrected compas_fab version range (from <0.12 to <0.11)

• Fixed compas_rrc requirement syntax given it’s installed from git repository

• Added compas_rrc to installable packages for compas_rcf.install_rhino

Added¶

• ClayBulletEncoder to serialize ClayBullet added to compas_rcf.fabrication.clay_obj

• Frames before and after placement added to ClayBullet

• from_data constructor added to ClayBullet

• Function to parse list of ClayBullet instances from JSON added in new module compas_rcf.utils.json_

• ensure_frame function added to compas_rcf.utils.util_funcs to convert Planes to Frames

• compas_rcf.IPY global boolean that uses compas function to check if IronPython is running the code.

Changed¶

• Rhino modules are only loaded if IronPython is running the code

• compas_rcf.fabrication.abb_fabrication_non_interactive now reads JSON to load ClayBullets and extracts Frames from them

• Most settings in abb_fabrication_non_interactive are moved to top and set as globals.

Removed¶

• compas_rcf.utils.databases mock module removed in favor of json_.

Added¶

• Added abb non-interactive fabrication script

• Added docker-compose files for ABB ROS setup

Added¶

• Example file grasshopper_non_interactive setup in docs

• Partly finished structure for future ur online fabrication procedure

Changed¶

• utils.py now divided into multiple modules

• Other renames and moves

Removed¶

Changed¶

• Name change from rcf to compas_rcf.

Added¶

• First release, package setup by applying compas-dev/cookiecutter-pypackage on small library of modules from previous phase of project

Changed¶

• rcf/ur renamed to rcf/ur_control

• Fabrication related functions moved from rcf/ur to rcf/fabrication

Removed¶

• Unused code in rcf/ur_control