compas-fab 0.21.1

Robotic fabrication package for the COMPAS Framework

Robotic fabrication package for the COMPAS Framework that facilitates the planning and execution of robotic fabrication processes. It provides interfaces to existing software libraries and tools available in the field of robotics (e.g. OMPL, ROS) and makes them accessible from within the parametric design environment. The package builds upon COMPAS, an open-source Python-based framework for collaboration and research in architecture, engineering and digital fabrication.

Main features

• Multiple backends for simulation and execution (e.g. ROS: Robot Operating System)

• Planning tools: kinematic solvers, path planning, etc.

• Execution tools: feedback loops, robot control, etc.

COMPAS FAB runs on Python 3.x and IronPython 2.7.

Getting Started

The recommended way to install COMPAS FAB is to use Anaconda/conda:

conda install -c conda-forge compas_fab

But it can also be installed using pip:

pip install compas_fab

Note

On Windows, you may need to install Microsoft Visual C++ 14.0.

Once the installation is completed, you can verify your setup. Start Python from the command prompt and run the following:

>>> import compas_fab

First Steps

• Documentation

• COMPAS FAB Examples

• COMPAS FAB API Reference

• COMPAS Tutorials

• COMPAS API Reference

Questions and feedback

We encourage the use of the COMPAS framework forum for questions and discussions.

Contributing

We love contributions!

Check the Contributor’s Guide for more details.

Releasing this project

Ready to release a new version of COMPAS FAB? Here’s how to do it:

• We use semver, i.e. we bump versions as follows:

  • patch: bugfixes.

  • minor: backwards-compatible features added.

  • major: backwards-incompatible changes.

• Update the CHANGELOG.rst with all novelty!

• Ready? Release everything in one command:

invoke release [patch|minor|major]

• Celebrate! 💃

Credits

This package is maintained by Gramazio Kohler Research @gramaziokohler and a long list of contributors

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.

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.ros.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 compas_fab.robots.Robot.artist does not try to scale robot geometry if links and/or joints are not defined.

• In compas_fab.robots.constraints.JointConstraint, added tolerance_above and tolerance_below for allowing asymmetrical constraints.

• In compas_fab.robots.Robot, changed the constraints_from_configuration function with tolerances_above and tolerances_below.

• compas_fab.robots.CollisionMesh.scale now takes a scale factor instead of a 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 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 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.

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