https://github.com/compas-dev/compas_fab - COMPAS FAB 1.1.0

Added

Changed

• Made pybullet entirely optional. To install pybullet, use pip install compas_fab.[pybullet] or install pybullet manually.

Removed

- Python
Published by github-actions[bot] about 1 year ago

https://github.com/compas-dev/compas_fab - COMPAS FAB 1.0.5

Added

Changed

• Rhino CPython support: change pybullet to be optional requirements inside Rhino.

Removed

- Python
Published by github-actions[bot] about 1 year ago

https://github.com/compas-dev/compas_fab - COMPAS FAB 1.0.4

Added

Changed

Removed

- Python
Published by github-actions[bot] about 1 year ago

https://github.com/compas-dev/compas_fab - COMPAS FAB 1.0.2

Added

Changed

• Raise BackendFeatureNotSupportedError exceptions when a features is not supported by the planner, instead of generic Exception.

Removed

- Python
Published by github-actions[bot] over 2 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB 1.0.1

Added

Changed

Removed

- Python
Published by github-actions[bot] over 2 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.28.0

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.

- Python
Published by gonzalocasas about 3 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.27.0

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

• 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).
• Fixed usage of tangent_points_to_circle_xy in Spherica Wrist solver to work with COMPAS v1.16 and older.

- Python
Published by gonzalocasas over 3 years ago

https://github.com/compas-dev/compas_fab - 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.

- Python
Published by gonzalocasas almost 4 years ago

https://github.com/compas-dev/compas_fab - 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.

- Python
Published by gonzalocasas about 4 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.24.0

Added

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

- Python
Published by gonzalocasas about 4 years ago

https://github.com/compas-dev/compas_fab - 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.

- Python
Published by gonzalocasas about 4 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.22.0

Added

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

- Python
Published by gonzalocasas over 4 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.21.1

Changed

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

- Python
Published by gonzalocasas over 4 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.21.0

Added

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

Fixed

• Consider AttachedCollisionMesh in AnalyticalInverseKinematics.

- Python
Published by gonzalocasas over 4 years ago

https://github.com/compas-dev/compas_fab - 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.

- Python
Published by gonzalocasas over 4 years ago

https://github.com/compas-dev/compas_fab - 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

- Python
Published by gonzalocasas over 4 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.19.1

Fixed

• Fixed bundling of ghuser components

- Python
Published by gonzalocasas about 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.19.0

Added

• Added documentation for Grasshopper components.

Changed

• Updated build-ghuser-components task
• Updated to COMPAS 1.7

- Python
Published by gonzalocasas about 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.18.3

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

- Python
Published by gonzalocasas about 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.18.2

- Python
Published by gonzalocasas about 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.18.1

Fixed

• Fix error message during uninstall of Grasshopper components

- Python
Published by gonzalocasas about 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.18.0

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

- Python
Published by gonzalocasas about 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.17.1

Fixed

• Fixed deserialization of AttachedCollisionMesh

- Python
Published by gonzalocasas about 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.17.0

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

Changed

• Updated to COMPAS 1.1

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.

- Python
Published by gonzalocasas over 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.16.0

Changed

• Updated to COMPAS 1.0

- Python
Published by gonzalocasas over 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.15.0

Changed

• Updated to COMPAS 0.19

- Python
Published by gonzalocasas over 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.14.0

Added

• Added new backend feature ResetPlanningScene
• Added MoveItResetPlanningScene

Changed

• Updated to COMPAS 0.18

Fixed

• Fixed bug in remove_attached_tool of PlanningScene

- Python
Published by gonzalocasas over 5 years ago

https://github.com/compas-dev/compas_fab - 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

- Python
Published by gonzalocasas over 5 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.13.0

Changed

• Updated to COMPAS 0.17

- Python
Published by gonzalocasas over 5 years ago

https://github.com/compas-dev/compas_fab - 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.

- Python
Published by gonzalocasas over 5 years ago

https://github.com/compas-dev/compas_fab - 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

- Python
Published by gonzalocasas about 6 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.10.2

Added

• Added Python 3.8 support

Changed

• Updated to COMPAS 0.13

- Python
Published by gonzalocasas over 6 years ago

https://github.com/compas-dev/compas_fab - 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

- Python
Published by gonzalocasas over 6 years ago

https://github.com/compas-dev/compas_fab - 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

- Python
Published by gonzalocasas over 6 years ago

https://github.com/compas-dev/compas_fab - 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

- Python
Published by gonzalocasas over 6 years ago

https://github.com/compas-dev/compas_fab - 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

- Python
Published by gonzalocasas over 6 years ago

https://github.com/compas-dev/compas_fab - 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.

- Python
Published by gonzalocasas over 6 years ago

https://github.com/compas-dev/compas_fab - COMPAS FAB v0.6.0

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

- Python
Published by gonzalocasas over 6 years ago