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Releases: compas-dev/compas_fab

COMPAS FAB 1.0.2

22 Feb 03:20
42a8f8e
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Added

Changed

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

Removed

COMPAS FAB 1.0.1

20 Feb 15:48
a911db7
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COMPAS FAB v0.28.0

10 May 13:21
92fab36
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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

10 Oct 01:56
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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.

COMPAS FAB v0.26.0

22 Jun 09:47
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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.

COMPAS FAB v0.25.0

26 Apr 15:47
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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

05 Apr 12:57
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Added

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

COMPAS FAB v0.23.0

29 Mar 06:36
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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.

COMPAS FAB v0.22.0

15 Dec 16:57
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Added

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

COMPAS FAB v0.21.1

12 Dec 23:30
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Changed

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