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.

COMPAS FAB v0.21.0

Added

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

Fixed

• Consider AttachedCollisionMesh in AnalyticalInverseKinematics.

COMPAS FAB v0.20.1

Removed

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

COMPAS FAB v0.20.0

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

COMPAS FAB v0.19.1

Fixed

• Fixed bundling of ghuser components

COMPAS FAB v0.19.0

Added

• Added documentation for Grasshopper components.

Changed

• Updated build-ghuser-components task
• Updated to COMPAS 1.7

COMPAS FAB v0.18.3

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

COMPAS FAB v0.18.2

Bump version: 0.18.1 → 0.18.2