Compas-fab

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 :class:`~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 :class:`~compas_fab.blender.RobotArtist` for Blender
* Fixed DAE parsing of meshes with multiple triangle sets

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`

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

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.

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`

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.