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CHANGELOG.rst

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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

Changed

Fixed

Deprecated

Removed

0.14.0

Added

  • Added new backend feature ResetPlanningScene
  • Added MoveItResetPlanningScene

Changed

  • Updated to COMPAS 0.18

Fixed

  • Fixed bug in remove_attached_tool of PlanningScene

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 :class:`compas_fab.robots.Robot.artist` does not try to scale robot geometry if links and/or joints are not defined.
  • In :class:`compas_fab.robots.constraints.JointConstraint`, added tolerance_above and tolerance_below for allowing asymmetrical constraints.
  • In :class:`compas_fab.robots.Robot`, changed the constraints_from_configuration function with tolerances_above and tolerances_below.
  • :meth:`compas_fab.robots.CollisionMesh.scale` now takes a scale factor instead of a :class:`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 :class:`~compas_fab.rhino.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 :class:`~compas_fab.blender.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