Releases: compas-dev/compas_fab
Releases · 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 genericException
.
Removed
COMPAS FAB 1.0.1
Added
Changed
Removed
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.
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 theCollision 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
) inRobot
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 flaguse_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 theros_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.
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 therobot.main_group_name
.- Added parameter
group
to theAttachToolComponent
Fixed
- Attaching a tool to a planning group doesn't overwrite the tool attached to other groups.
- Changed
Trajectory
to inherit fromcompas.data.Data
class to fix a serialization error that expects guid to be present.
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.
COMPAS FAB v0.24.0
Added
- Added
compas_fab.robots.ReachabilityMap
- Added
compas_fab.robots.DeviationVectorsGenerator
- Added
compas_fab.robots.OrthonormalVectorsFromAxisGenerator
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 ofcompas.data.json_dump
. - Deprecated
compas_fab.utilities.read_data_from_json
in favor ofcompas.data.json_load
.
COMPAS FAB v0.22.0
Added
- Added
Attach Tool
GH component: crowd-coded at McNeel's Robotic Fabrication Workshop!
COMPAS FAB v0.21.1
Changed
- Changed default wire visibility to hidden in some GH components for cleaner Grasshopper files.