Compas-fab

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

Changed

* Updated to `COMPAS 0.17`

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

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 :class:`compas_fab.robots.Robot.artist` does not try to scale robot
geometry if links and/or joints are not defined.
* In :class:`compas_fab.robots.constraints.JointConstraint`, added `tolerance_above` and
`tolerance_below` for allowing asymmetrical constraints.
* In :class:`compas_fab.robots.Robot`, changed the `constraints_from_configuration`
function with `tolerances_above` and `tolerances_below`.
* :meth:`compas_fab.robots.CollisionMesh.scale` now takes a scale factor
instead of a :class:`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

Added

* Added Python 3.8 support

Changed

* Updated to `COMPAS 0.13`

Fixed

* Fix DAE parser to handle `polylist` meshes
* Bumped `roslibpy` dependency to `0.7.1` to fix blocking service call issue on Mac OS