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

Removed

Fixed

Deprecated

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 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 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