Skip to content

COMPAS FAB v0.27.0
Compare
Choose a tag to compare
@gonzalocasas gonzalocasas released this 10 Oct 01:56
· 409 commits to main since this release
v0.27.0
25d2efb

Added

  • Added support for attached and non-attached collision mesh visualization to the Robot Visualize GH component.
  • Added a prefix to all GH components.
  • Added append to the operations of the Collision Mesh GH component.

Changed

  • Changed behavior of Attach Tool GH component to only attach the tool but not add it to the planning scene state.
  • Duration class takes floats as sec variable.
  • Changed the behavior of forward_kinematics, inverse_kinematics, iter_inverse_kinematics, plan_cartesian_motion and constraints construction methods (orientation_constraint_from_frame, position_constraint_from_frame, constraints_from_frame) in Robot class to use the frame of the attached tool if a tool is attached. This behavior can be reverted back (ie. only calculate T0CF) using the flag use_attached_tool_frame of all these methods.

Fixed

  • Fixed DH params for analytical IK solver of UR3e and UR10e.
  • Fixed Kinetic support on IK, FK, and motion planning calls.
  • Fixed Publish to topic Grasshopper component when the ros_client has been replaced (eg. disconnected and reconnected).
  • Fixed usage of tangent_points_to_circle_xy in Spherica Wrist solver to work with COMPAS v1.16 and older.
Assets 2
Loading