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¤

NativePlanner and NativeClient: a compas_fab planning backend on a compiled (Rust) core, moved here from the compas_fab spike branch with its history.
Forward kinematics, and inverse kinematics for frame and point-axis targets: closed form for UR arms and spherical-wrist arms (derived from the robot model), numerical and collision-aware for any other serial robot.
check_collision on the sphere model or on the exact meshes, including tools and workpieces the robot carries.
plan_cartesian_motion for frame and point-axis waypoints in robot, tool and workpiece mode, with free rotation about the tool axis.
plan_motion to configuration, frame and point-axis targets, timed under joint velocity and acceleration limits.
Mesh obstacles as signed distance fields (NativePlanner(obstacles="esdf")), which keep holes and concave shapes open.
Release workflow on compas-dev/compas-actions: wheels for Linux (x86_64), macOS (universal2) and Windows (x64), each tested on Python 3.9 and 3.13, a source distribution, and publishing to PyPI.
License texts of the Rust crates compiled into the extension, in licenses/THIRD_PARTY_RUST.txt.
Documentation site.

Collision spheres are fitted in the core instead of in Python with trimesh: about 20 times faster (0.08 s instead of 1.7 s to set up a UR5), and trimesh and rtree are no longer dependencies.