COMPAS FAB 1.0.2

Added

Changed

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

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 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

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

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 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

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.