Robotic fabrication package for the COMPAS Framework
Project description
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 2.x, 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
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
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.
0.5.0
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
Release history Release notifications | RSS feed
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