compas-dev · Copilot · Dec 13, 2023 · Dec 13, 2023 · Dec 13, 2023 · Dec 13, 2023
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -4,9 +4,8 @@ on:
   push:
     branches:
       - main
+      - wip
   pull_request:
-    branches:
-      - main
 
 jobs:
   build:

diff --git a/.github/workflows/integration.yml b/.github/workflows/integration.yml
@@ -4,9 +4,8 @@ on:
   push:
     branches:
       - main
+      - wip
   pull_request:
-    branches:
-      - main
 
 jobs:
   build:
@@ -17,7 +16,7 @@ jobs:
       - name: Set up Python 3.8
         uses: actions/setup-python@v2
         with:
-          python-version: 3.8
+          python-version: '3.8'
       - name: Set up docker containers
         run: |
           docker-compose -f "tests/integration_setup/docker-compose.yml" up -d --build

diff --git a/.github/workflows/ironpython.yml b/.github/workflows/ironpython.yml
@@ -4,9 +4,8 @@ on:
   push:
     branches:
       - main
+      - wip
   pull_request:
-    branches:
-      - main
 
 jobs:
   build:
@@ -16,15 +15,34 @@ jobs:
       - uses: actions/checkout@v2
       - name: Install dependencies
         run: |
+          echo "Installing IronPython..."
           choco install ironpython --version=2.7.8.1
+
+          echo "Downloading ironpython-pytest..."
           curl -o ironpython-pytest.tar.gz -LJO https://pypi.debian.net/ironpython-pytest/latest
-          curl -o compas.tar.gz -LJO https://pypi.debian.net/COMPAS/latest
+
+          echo "Downloading COMPAS..."
+          curl -o compas.tar.gz -LJO https://pypi.debian.net/COMPAS/COMPAS-2.1.0.tar.gz
+
+          echo "Downloading roslibpy..."
           curl -o roslibpy.tar.gz -LJO https://pypi.debian.net/roslibpy/latest
+
+          echo "Downloading compas_robots..."
           curl -o compas_robots.tar.gz -LJO https://pypi.debian.net/compas_robots/latest
+
+          echo "Setting up IronPython environment..."
           ipy -X:Frames -m ensurepip
+
+          echo "Installing ironpython-pytest..."
           ipy -X:Frames -m pip install --no-deps ironpython-pytest.tar.gz
+
+          echo "Installing COMPAS..."
           ipy -X:Frames -m pip install --no-deps compas.tar.gz
+
+          echo "Installing roslibpy..."
           ipy -X:Frames -m pip install --no-deps roslibpy.tar.gz
+
+          echo "Installing compas_robots..."
           ipy -X:Frames -m pip install --no-deps compas_robots.tar.gz
       - uses: NuGet/setup-nuget@v1.0.5
       - uses: compas-dev/compas-actions.ghpython_components@v5
@@ -33,11 +51,13 @@ jobs:
           target: src/compas_fab/ghpython/components/ghuser
       - name: Test import
         run: |
+          echo "Testing import of compas_fab..."
           ipy -m compas_fab
         env:
           IRONPYTHONPATH: ./src
       - name: Run tests
         run: |
+          echo "Running tests..."
           ipy tests/ipy_test_runner.py
         env:
           IRONPYTHONPATH: ./src
diff --git a/AUTHORS.rst b/AUTHORS.rst
@@ -22,7 +22,8 @@ If you use COMPAS FAB in a project, please use the following citation:
             Lytle, B. and
             Huang, Y. and
             Kasirer, C. and
-            Bruun, E.
+            Bruun, E. and
+            Leung, P.Y.V.
             },
         howpublished={https://github.com/compas-dev/compas\_fab/},
         note={Gramazio Kohler Research, ETH Z\"{u}rich},
@@ -50,4 +51,3 @@ Authors
 * Chen Kasirer <kasirer@arch.ethz.ch> `@chenkasirer <https://github.com/chenkasirer>`_
 * Edvard Bruun <ebruun@princeton.edu> `@ebruun <https://github.com/ebruun>`_
 * Victor Pok Yin Leung <leung@arch.ethz.ch> `@yck011522 <https://github.com/yck011522>`_
-
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,40 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## Unreleased
+
+### Added
+
+* Added `compas_fab.robots.Waypoints` class to represent a sequence of targets. It has two child classes: `FrameWaypoints` and `PointAxisWaypoints`.
+* Added `compas_fab.robots.Target` class to represent a motion planning target.
+* Added also child classes `FrameTarget`, `PointAxisTarget`, `ConfigurationTarget`, `ConstraintSetTarget`
+* Unlike previous constraints, `Targets` do not contain `group` as parameter. Instead, group parameter is passed to the planning call.
+* Target scaling function is now embeded in the code for Targets. `scaled()` should be called by the user before passing the target to the `plan_motion` function.
+
+### Changed
+
+
+* Renamed `PybulletClient.get_cached_robot` to `PybulletClient.get_cached_robot_model` to avoid confusion between the `RobotModel` and `Robot` class.
+* Renamed `PybulletClient.ensure_cached_robot` to `PybulletClient.ensure_cached_robot_model`.
+* Renamed `PybulletClient.ensure_cached_robot_geometry` to `PybulletClient.ensure_cached_robot_model_geometry`.
+* Renamed `PybulletClient.cache_robot` to `PybulletClient.cache_robot_model`.
+* Backend planners now use multi-inherence instead of `__call__` to include the backend functions. This allows for better generated documentation.
+* `Robot.plan_carteisan_motion()` now accepts `Waypoints` as target. Implementation for `FrameWaypoints` is supported with same functionality as before. Simply wrap `Frame` objects using `FrameWaypoints(frames)`.
+* Changed `BoundingVolume`, `Constraint`, `JointConstraint`, `OrientationConstraint`, `PositionConstraint` to inherit from `compas.data.Data` class.
+* Change the signature of `plan_motion()` to use `target` (`Target` class) instead of `goal_constraints`. Only one target is accepted. Users who wish to compose their own constraint sets can still use `ConstraintSetTarget`.
+* Moved `Robot.orientation_constraint_from_frame()` to `OrientationConstraint.from_frame()`, as constraints are no longer intended for users to use directly.
+* Moved `Robot.position_constraint_from_frame()` to `PositionConstraint.from_frame()`, as constraints are no longer intended for users to use directly.
+* Moved `Robot.constraints_from_frame()` to ros.backend_features and is handled by `convert_target_to_goal_constraints()`. Users who wish to use a frame as target should use a `FrameTarget` instead.
+* Changed the behavior of Duration class when accepting both seconds (float) and nanoseconds (int) where the decimal point of seconds and the nanoseconds add up to more than 1 second.
+* Changed GH Component `ConstraintsFromPlane` to `FrameTargetFromPlane`.
+* Changed GH Component `ConstraintsFromTargetConfiguration` to `ConfigurationTarget`.
+* Changed `RosClient` constructor to take a type for planner backend instead of a string. This also changes the name of the argument from `planner_backend` to `planner_type`.
+
+### Removed
+
+* Removed `plan_cartesian_motion_deprecated` and `plan_motion_deprecated` methods from `Robot` class
+* Removed `forward_kinematics_deprecated` and `inverse_kinematics_deprecated` method from `Robot` class
+
 ## [1.0.2] 2024-02-22
 
 ### Added
@@ -30,6 +64,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 * Add parameter to control which link the tool is connected to in Grasshopper.
+* Introduced `compas_fab.robots.RobotLibrary` class with 4 built-in robots.
+* Added a script to extract URDF, SRDF and meshes from a Docker MoveIt instance.
 
 ### Changed
 
@@ -44,13 +80,16 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Add `attributes` to `Trajectory` class.
 * Fixed `data` serialization API to comply with `COMPAS 2.0` private data API.
 * Use the tool's `connected_to` link when showing end-effector frames in Grasshopper.
+* Change default end-effector link name from `ee_link` to `tool0`.
 
 ### Removed
 
 * Removed V-Rep backend.
 * Removed outdated `PathPlan` class.
 * Removed outdated rfl demo class.
 * Remove deprecated aliases for artists (currently on `compas_robots`).
+* Removed `compas_fab.robots.ur5` because it is now part of `compas_fab.robots.RobotLibrary`.
+* Removed data files of ur5 and ur10e from `src/compas_fab/data/universal_robots` because they are now in of `src/compas_fab/data/robot_library`.
 
 ## [0.28.0] 2023-05-10
 

diff --git a/docs/conf.py b/docs/conf.py
@@ -145,7 +145,7 @@ def setup(app):
     "logo": {
         "image_light": "_static/compas_icon_white.png",
         "image_dark": "_static/compas_icon_white.png",
-        "text": "COMPAS docs",
+        "text": "COMPAS FAB",
     },
     "navigation_depth": 2,
 }

diff --git a/docs/developer/backends.rst b/docs/developer/backends.rst
@@ -82,3 +82,15 @@ Backend interfaces
 ==================
 
 .. automodule:: compas_fab.backends.interfaces
+
+Implemented backend features
+============================
+
+The following backend features are implemented for the ROS backend:
+
+.. automodule:: compas_fab.backends.ros.backend_features
+
+The following backend features are implemented for the PyBullet backend:
+
+.. automodule:: compas_fab.backends.pybullet.backend_features
+
diff --git a/docs/examples/01_fundamentals/01_frame_and_transformation.rst b/docs/examples/01_fundamentals/01_frame_and_transformation.rst
@@ -1,3 +1,5 @@
+.. _frame_and_transformation:
+
 *******************************************************************************
 Frame and Transformation
 *******************************************************************************

diff --git a/docs/examples/01_fundamentals/02_coordinate_frames.rst b/docs/examples/01_fundamentals/02_coordinate_frames.rst
@@ -1,3 +1,5 @@
+.. _coordinate_frames:
+
 *******************************************************************************
 Coordinate frames
 *******************************************************************************

diff --git a/docs/examples/02_description_models/01_kinematic_model.rst b/docs/examples/02_description_models/01_kinematic_model.rst
@@ -1,3 +1,5 @@
+.. _kinematic_model:
+
 *******************************************************************************
 Kinematic model
 *******************************************************************************

diff --git a/docs/examples/02_description_models/02_robot.rst b/docs/examples/02_description_models/02_robot.rst
@@ -1,3 +1,5 @@
+.. _robot_model:
+
 *******************************************************************************
 Robot models
 *******************************************************************************

diff --git a/docs/examples/02_description_models/03_robot_instances.rst b/docs/examples/02_description_models/03_robot_instances.rst
@@ -0,0 +1,53 @@
+********************************************************************************
+RobotModel Packages
+********************************************************************************
+
+.. rst-class:: lead
+
+``COMPAS FAB`` provides several ready-to-use robot packages that can be used for
+demonstrating the capabilities of the package. These packages can be accessed from the
+:class:`compas_fab.robots.RobotLibrary`. The robot packages are loaded from local data
+files. They contain
+the `robot.model`, `robot.semantics` and meshes associated with the robot links.
+
+
+The following packages are available:
+
+
+.. list-table:: Robot Packages
+    :widths: 25 25 50 25
+    :header-rows: 1
+
+    * - Model
+      - Brand
+      - Description
+      - Location
+    * - UR5
+      - Universal Robots
+      - 6 DOF offset-wrist robot
+      - :class:`~compas_fab.robots.RobotLibrary.ur5`
+    * - UR10e
+      - Universal Robots
+      - 6 DOF offset-wrist robot
+      - :class:`~compas_fab.robots.RobotLibrary.ur10e`
+    * - IRB 4600-40/2.55
+      - ABB
+      - 6 DOF spherical-wrist robot
+      - :class:`~compas_fab.robots.RobotLibrary.abb_irb4600_40_255`
+    * - RFL
+      - ETH Arch_Tec_Lab
+      - Multi-robotic system with 2 gantry and 4 robotic arms
+      - :class:`~compas_fab.robots.RobotLibrary.rfl`
+
+
+Description of the RFL Robotic Setup (`Robotic Fabrication Laboratory <https://ita.arch.ethz.ch/archteclab/rfl.html>`_)
+
+
+Origin of the packages
+======================
+
+The robot packages originates from ROS MoveIt Robot Packages located in
+`gramaziokohler/ros_docker <https://github.com/gramaziokohler/ros_docker/>`_.
+The docker files are *composed up* and extracted over ROS to a local folder structure
+that is compatible with the COMPAS Fab package. The convertion script can be found in the
+source code repository folder `scripts/extact_robot_package_from_ros.py`.
diff --git a/docs/examples/02_description_models/03_targets.rst b/docs/examples/02_description_models/03_targets.rst
@@ -0,0 +1,65 @@
+.. _targets:
+
+*******************************************************************************
+Targets and Waypoints
+*******************************************************************************
+
+-----------------------
+Targets (Single Goal)
+-----------------------
+
+Target classes are used to describe the goal condition (i.e. end condition) of a robot
+for motion planning. They can be used for Free-space Motion Planning with :meth:`compas_fab.robots.Robot.plan_motion`.
+
+The :class:`compas_fab.robots.FrameTarget` is the most common target for motion planning.
+It defines the complete pose of the end-effector (or the robot flange, if no tool is attached).
+A frame target is commonly created from a :class:`compas.geometry.Frame` object, or alternatively from a :class:`compas.geometry.Transformation` object.
+
+The :class:`compas_fab.robots.PointAxisTarget` class is used for specifying a target
+based on a point (`target_point`) and a Z-Axis (`target_z_axis`).
+This is useful for example when the robot is using a cylindrical tool to perform a task,
+for example 3D printing, welding or drilling.
+In a more general case, it can be used for any tools for which the rotation
+around its own Z axis is acceptable during use.
+The point and the Z-Axis are defined relative to the tool coordinate frame (TCF).
+The goal is (1) for the tool's TCF point to coincide with the `target_point`,
+and (2) for the TCF's Z-axis to become parallel to the `target_z_axis`.
+Note that the exact orientatio of the TCF is not determined until after the target is planned.
+
+The :class:`compas_fab.robots.ConfigurationTarget` class is used to specify a target
+based on a specific robot configuration (joint values).
+For example, it can be used to move the robot to a taught position acquired by jogging.
+Typically, the ConfigurationTarget should have the same number of joints as the planning group
+of the robot. However, it is possible to specify a subset of the joints, in which
+case the remaining joints are left unspecified.
+
+The :class:`compas_fab.robots.ConstraintSetTarget` class is used to specify a list of
+constraints as a planning target. This is intended for advanced users who want to create custom
+combination of constraints. See :class:`compas_fab.robots.Constraint` for available
+constraints. At the moment, only the ROS MoveIt planning backend supports this target type.
+
+.. _waypoints:
+
+------------------------------------------
+Waypoints (Multiple Points / Segments)
+------------------------------------------
+
+Waypoints classes are used to describe a sequence of
+waypoints that the robot should pass through in a planned motion. They are similar to Targets classes
+but contain a list of targets instead of a single target, which is useful for tasks such as
+drawing, welding or 3D printing.
+They can be used for Cartesian Motion Planning with :meth:`compas_fab.robots.Robot.plan_cartesian_motion`.
+
+The :class:`compas_fab.robots.FrameWaypoints` is the most common waypoint for Cartesian motion planning.
+It defines a list of complete pose for the end-effector (or the robot flange, if no tool is attached).
+It is created by a list of :class:`compas.geometry.Frame` objects or alternatively from a list of
+:class:`compas.geometry.Transformation` objects.
+
+The :class:`compas_fab.robots.PointAxisWaypoints` class is used for specifying a list of waypoints based on
+the Point-Axis concept used in the :class:`compas_fab.robots.PointAxisTarget`. Compared to
+:class:`~compas_fab.robots.FrameWaypoints`, this class allows for specifying targets where the rotation
+around the Z-axis is not fixed. This is useful for example when the robot is using a cylindrical tool
+to perform a task, for example 3D printing, welding or drilling. The freely rotating axis is defined relative
+to the Z-axis of the tool coordinate frame (TCF). Note that the orientation of the tool
+at the end of the motion is not determined until after the motion is planned.
+
diff --git a/docs/examples/02_description_models/files/02_robot_from_disk.py b/docs/examples/02_description_models/files/02_robot_from_disk.py
@@ -4,13 +4,14 @@
 import compas_fab
 
 # Locate the URDF file inside compas fab installation
-urdf = compas_fab.get("universal_robot/ur_description/urdf/ur10e.urdf")
+urdf = compas_fab.get("robot_library/ur10e_robot/urdf/robot_description.urdf")
 
 # Create robot model from URDF
 model = RobotModel.from_urdf_file(urdf)
 
 # Also load geometry
-loader = LocalPackageMeshLoader(compas_fab.get("universal_robot"), "ur_description")
+support_package_name = ""
+loader = LocalPackageMeshLoader(compas_fab.get("robot_library/ur10e_robot"), support_package_name)
 model.load_geometry(loader, precision=12)
 
 print(model)
diff --git a/docs/examples/03_backends_ros/02_robot_models.rst b/docs/examples/03_backends_ros/02_robot_models.rst
@@ -21,12 +21,3 @@ request the full model to be loaded from ROS.
 
 .. literalinclude :: files/02_robot_model.py
    :language: python
-
-Load model from URDF
-====================
-
-Alternatively, the URDF model can be loaded from URDF files (stored locally
-or remotely):
-
-.. literalinclude :: files/02_robot_model_urdf.py
-   :language: python
diff --git a/docs/examples/03_backends_ros/files/02_robot_model_urdf.py b/docs/examples/03_backends_ros/files/02_robot_model_urdf.py
-Original file line number
+Diff line change
@@ Expand Up / @@ -4,9 +4,8 @@ on: @@
       push:
         branches:
           - main
+          - wip
       pull_request:
-        branches:
-          - main
     jobs:
       build:
@@ Expand Down @@