compas-dev/compas_fab: COMPAS FAB v0.12.0

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.