Compas-fab

Changed

* Changed Grasshopper components to default to icon display.
* Changed to use `compas_rhino.conversions` to coerce frames.

Fixed

* Fixed link parameter name when doing FK inside the GH component to display attached collision meshes.
* Fixed transform of the attached collision mesh frame inside the GH component.
* Fixed uninstall process not removing GH components.

Added

* Added `compas_fab.robots.ReachabilityMap`
* Added `compas_fab.robots.DeviationVectorsGenerator`
* Added `compas_fab.robots.OrthonormalVectorsFromAxisGenerator`

Changed

Fixed

* Fixed `ROSmsg` import on GH components for publish/subscribe.

Deprecated

Removed

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`.

Removed

Added

* Added `Attach Tool` GH component: crowd-coded at McNeel's Robotic Fabrication Workshop!

Changed

Fixed

Deprecated

Removed

Added

Changed

* Changed default wire visibility to hidden in some GH components for cleaner Grasshopper files.

Fixed

Deprecated

Removed

Added

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

Fixed

* Consider `AttachedCollisionMesh` in `AnalyticalInverseKinematics`.