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

Added compas_fab.robots.Waypoints class to represent a sequence of targets. It has two child classes: FrameWaypoints and PointAxisWaypoints.
Added compas_fab.robots.Target class to represent a motion planning target.
Added also child classes FrameTarget, PointAxisTarget, ConfigurationTarget, ConstraintSetTarget
Unlike previous constraints, Targets do not contain group as parameter. Instead, group parameter is passed to the planning call.
Target scaling function is now embeded in the code for Targets. scaled() should be called by the user before passing the target to the plan_motion function.

Changed

Renamed PybulletClient.get_cached_robot to PybulletClient.get_cached_robot_model to avoid confusion between the RobotModel and Robot class.
Renamed PybulletClient.ensure_cached_robot to PybulletClient.ensure_cached_robot_model.
Renamed PybulletClient.ensure_cached_robot_geometry to PybulletClient.ensure_cached_robot_model_geometry.
Renamed PybulletClient.cache_robot to PybulletClient.cache_robot_model.
Backend planners now use multi-inherence instead of __call__ to include the backend functions. This allows for better generated documentation.
Robot.plan_carteisan_motion() now accepts Waypoints as target. Implementation for FrameWaypoints is supported with same functionality as before. Simply wrap Frame objects using FrameWaypoints(frames).
Changed BoundingVolume, Constraint, JointConstraint, OrientationConstraint, PositionConstraint to inherit from compas.data.Data class.
Change the signature of plan_motion() to use target (Target class) instead of goal_constraints. Only one target is accepted. Users who wish to compose their own constraint sets can still use ConstraintSetTarget.
Moved Robot.orientation_constraint_from_frame() to OrientationConstraint.from_frame(), as constraints are no longer intended for users to use directly.
Moved Robot.position_constraint_from_frame() to PositionConstraint.from_frame(), as constraints are no longer intended for users to use directly.
Moved Robot.constraints_from_frame() to ros.backend_features and is handled by convert_target_to_goal_constraints(). Users who wish to use a frame as target should use a FrameTarget instead.
Changed the behavior of Duration class when accepting both seconds (float) and nanoseconds (int) where the decimal point of seconds and the nanoseconds add up to more than 1 second.
Changed GH Component ConstraintsFromPlane to FrameTargetFromPlane.
Changed GH Component ConstraintsFromTargetConfiguration to ConfigurationTarget.
Changed RosClient constructor to take a type for planner backend instead of a string. This also changes the name of the argument from planner_backend to planner_type.

Removed

Removed plan_cartesian_motion_deprecated and plan_motion_deprecated methods from Robot class
Removed forward_kinematics_deprecated and inverse_kinematics_deprecated method from Robot class

[1.0.2] 2024-02-22

Added

Changed

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

Removed

[1.0.1] 2024-02-20

Added

Changed

Removed

[1.0.0] 2024-02-20

Added

Add parameter to control which link the tool is connected to in Grasshopper.
Introduced compas_fab.robots.RobotLibrary class with 4 built-in robots.
Added a script to extract URDF, SRDF and meshes from a Docker MoveIt instance.

Changed

Changed CollisionMesh inherit from compas.data.Data
Changed AttachedCollisionMesh to inherit from compas.data.Data
Changed Robot inherit from compas.data.Data
Changed RobotSemantics inherit from compas.data.Data
Changed Tool to inherit from compas.data.Data
Renamed Tool.link_name to Tool.connected_to
Migrate to COMPAS 2.x: add dependency to compas_robots
Migrate to COMPAS 2.x: use compas.tolerance module instead of compas.PRECISION
Add attributes to Trajectory class.
Fixed data serialization API to comply with COMPAS 2.0 private data API.
Use the tool's connected_to link when showing end-effector frames in Grasshopper.
Change default end-effector link name from ee_link to tool0.

Removed

Removed V-Rep backend.
Removed outdated PathPlan class.
Removed outdated rfl demo class.
Remove deprecated aliases for artists (currently on compas_robots).
Removed compas_fab.robots.ur5 because it is now part of compas_fab.robots.RobotLibrary.
Removed data files of ur5 and ur10e from src/compas_fab/data/universal_robots because they are now in of src/compas_fab/data/robot_library.

[0.28.0] 2023-05-10

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.

0.27.0

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 usage of tangent_points_to_circle_xy in Spherical Wrist solver to work with COMPAS v1.16 and older.

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).

Deprecated

Removed

0.26.0

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.

Deprecated

Removed

0.25.0

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.

0.24.0

Added

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

Changed

Fixed

Fixed ROSmsg import on GH components for publish/subscribe.

Deprecated

Removed

0.23.0

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.

Removed

0.22.0

Added

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

Changed

Fixed

Deprecated

Removed

0.21.1

Added

Changed

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

Fixed

Deprecated

Removed

0.21.0

Added

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

Fixed

Consider AttachedCollisionMesh in AnalyticalInverseKinematics.

0.20.1

Removed

Removed the bundled binary files for the VrepClient remote API. To use V-REP, use the remoteApi binaries provided with the software.

0.20.0

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

Deprecated

Removed

0.19.1

Added

Changed

Fixed

Fixed bundling of ghuser components

Deprecated

Removed

0.19.0

Added

Added documentation for Grasshopper components.
Added Grasshopper components to publish and subscribe to ROS topics.

Changed

Updated build-ghuser-components task
Updated to COMPAS 1.7

Fixed

Deprecated

Removed

0.18.3

Added

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

Deprecated

Removed

0.18.2

Added

Changed

Fixed

Deprecated

Removed

0.18.1

Fixed

Fix error message during uninstall of Grasshopper components

0.18.0

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

0.17.0

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
Added compas_fab.backends.PlanningSceneComponents.__ne__
Added dictionary behavior to compas_fab.robots.JointTrajectoryPoint.merge
Added length limitations to attributes of compas_fab.robots.JointTrajectoryPoint.merge

Changed

Updated to COMPAS 1.1
Configuration & JointTrajectoryPoint: the attributes values and types changed to joint_values and joint_types respectively.

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.

Deprecated

Removed

Remove compas_fab.robots.JointTrajectoryPoint.merge

0.16.0

Changed

Updated to COMPAS 1.0

0.15.0

Added

Changed

Updated to COMPAS 0.19

Fixed

Deprecated

Removed

0.14.0

Added

Added new backend feature ResetPlanningScene
Added MoveItResetPlanningScene

Changed

Updated to COMPAS 0.18
Use compas.IPY to check for IronPython

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.

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Changelog

Unreleased

Added

Changed

Removed

[1.0.2] 2024-02-22

Added

Changed

Removed

[1.0.1] 2024-02-20

Added

Changed

Removed

[1.0.0] 2024-02-20

Added

Changed

Removed

[0.28.0] 2023-05-10

Added

Changed

Fixed

0.27.0

Added

Changed

Fixed

Deprecated

Removed

0.26.0

Added

Changed

Fixed

Deprecated

Removed

0.25.0

Changed

Fixed

0.24.0

Added

Changed

Fixed

Deprecated

Removed

0.23.0

Added

Changed

Fixed

Deprecated

Removed

0.22.0

Added

Changed

Fixed

Deprecated

Removed

0.21.1

Added

Changed

Fixed

Deprecated

Removed

0.21.0

Added

Fixed

0.20.1

Removed

0.20.0

Added

Changed

Fixed

Deprecated

Removed

0.19.1

Added

Changed