Robotic Fabrication with COMPAS FAB at Swinburne (June 15-17), remote.

Tasks:

• [x] Prepare repository workshop materials
• [ ] Prepare URDF for robot cell
• [x] Send out pre-req email

As a user of compas_fab in Grasshopper with a ROS backend, I would like to be able to publish and subscribe to topics using the brand new GH components, because it would make a very common tasks much easier and faster to use.

Updates the requirements on compas to permit the latest version. <details> <summary>Release notes</summary> <p><em>Sourced from <a href="https://github.com/compas-dev/compas/releases">compas's releases</a>.</em></p> <blockquote> <h2>COMPAS 1.7.1</h2> <h3>Added</h3> <h3>Changed</h3> <ul> <li>Fixed bundling of ghuser components</li> </ul> <h3>Removed</h3> </blockquote> </details> <details> <summary>Changelog</summary> <p><em>Sourced from <a href="https://github.com/compas-dev/compas/blob/main/CHANGELOG.md">compas's changelog</a>.</em></p> <blockquote> <h2>[1.7.1] 2021-06-14</h2> <h3>Added</h3> <h3>Changed</h3> <ul> <li>Fixed bundling of ghuser components</li> </ul> <h3>Removed</h3> <h2>[1.7.0] 2021-06-14</h2> <h3>Added</h3> <ul> <li>Added pluggable function <code>trimesh_gaussian_curvature</code> in <code>compas_rhino</code>.</li> <li>Added pluggable function <code>trimesh_mean_curvature</code> in <code>compas_rhino</code>.</li> <li>Added pluggable function <code>trimesh_principal_curvature</code> in <code>compas_rhino</code>.</li> <li>Added <code>copy</code> and <code>deepcopy</code> functionality to <code>compas.robots.Configuration</code>.</li> <li>Added grasshopper component for drawing a frame.</li> <li>Added <code>draw_origin</code> and <code>draw_axes</code></li> </ul> <h3>Changed</h3> <ul> <li>Allow str or int as joint type in <code>compas.robots.Joint</code> constructor.</li> <li><code>compas_ghpython.artists.FrameArtist.draw</code> now draws a Rhino Plane.</li> <li>Fixed bugs in <code>compas.geometry.bestfit_circle_numpy</code>.</li> <li>Changed directory where ghuser components are installed.</li> <li>Added ghuser components directory to those removed by the <code>clean</code> task.</li> <li>Clean up the ghuser directory before building ghuser components.</li> <li>Fixed bug in <code>compas.geometry.distance.closest_point_on_segment_xy</code>.</li> <li>Fixed bug in Rhino implementations of <code>trimesh</code> curvature functions.</li> </ul> <h3>Removed</h3> <h2>[1.6.3] 2021-05-26</h2> <h3>Added</h3> <ul> <li>Added <code>compas.topology.astar_lightest_path</code>.</li> <li>Added jsonschema definitions for primitives and transformations.</li> <li>Added schema implementation to primitives and transformations.</li> <li>Added jsonschema implementation to primitives and transformations.</li> <li>Added <code>compas.data.is_int3</code>, <code>compas.data.is_float3</code>, <code>compas_data.is_float4x4</code>.</li> </ul> <h3>Changed</h3> <ul> <li>Extended <code>compas.topology.astar_shortest_path</code> to work on <code>compas.datastructures.Mesh</code> and <code>compas.datastructures.Network</code>.</li> <li>Fixed <code>compas.data.Data.to_jsonstring</code>.</li> </ul> <!-- raw HTML omitted --> </blockquote> <p>... (truncated)</p> </details> <details> <summary>Commits</summary> <ul> <li><a href="https://github.com/compas-dev/compas/commit/9874fc8ca00d93015224af68acb5b74bc5398f58"><code>9874fc8</code></a> Bump version to 1.7.1</li> <li><a href="https://github.com/compas-dev/compas/commit/533e55fd75aab1bc9e96e43b751801ef92b57b5f"><code>533e55f</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/compas-dev/compas/issues/863">#863</a> from compas-dev/fix_ghuser_bundling</li> <li><a href="https://github.com/compas-dev/compas/commit/5964e1077daada76847b3aa7cc0a9208861782eb"><code>5964e10</code></a> Fix bundling of GH user components</li> <li><a href="https://github.com/compas-dev/compas/commit/c454af5e67a7b800036af2ac81d9d43cd7f49d1f"><code>c454af5</code></a> Prepare changelog for next release</li> <li><a href="https://github.com/compas-dev/compas/commit/8b020402d56b9e2119dff452342c03f9e8ca9779"><code>8b02040</code></a> Bump version to 1.7.0</li> <li><a href="https://github.com/compas-dev/compas/commit/fc2ba04fdda8f6abe16551f6513704fbeb7a9f9b"><code>fc2ba04</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/compas-dev/compas/issues/860">#860</a> from compas-dev/fix-trimesh-curvature-input</li> <li><a href="https://github.com/compas-dev/compas/commit/db51dc95a5a156899d41432dbd757d8f306cbf3b"><code>db51dc9</code></a> remove for loops</li> <li><a href="https://github.com/compas-dev/compas/commit/c68bd78f62bd5d9472e9ae2c47b4cca6f3ce3406"><code>c68bd78</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/compas-dev/compas/issues/856">#856</a> from swsglobal/fix_closest_point_on_segment_xy</li> <li><a href="https://github.com/compas-dev/compas/commit/ce63b8936605ccb74e06f5dd6e48e3e3afd462c3"><code>ce63b89</code></a> tests: add more tests for closest_point_segment_xy</li> <li><a href="https://github.com/compas-dev/compas/commit/aef77465a7bf7edc02e3eb27932e6cdb8f85f538"><code>aef7746</code></a> fix closest_point_on_segment_xy</li> <li>Additional commits viewable in <a href="https://github.com/compas-dev/compas/compare/v0.17.2...v1.7.1">compare view</a></li> </ul> </details> <br />

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@dependabot rebase

Updates the requirements on compas to permit the latest version. <details> <summary>Release notes</summary> <p><em>Sourced from <a href="https://github.com/compas-dev/compas/releases">compas's releases</a>.</em></p> <blockquote> <h2>COMPAS 1.6.2</h2> <h3>Added</h3> <h3>Changed</h3> <h3>Removed</h3> </blockquote> </details> <details> <summary>Changelog</summary> <p><em>Sourced from <a href="https://github.com/compas-dev/compas/blob/main/CHANGELOG.md">compas's changelog</a>.</em></p> <blockquote> <h2>[1.6.2] 2021-05-12</h2> <h3>Added</h3> <h3>Changed</h3> <h3>Removed</h3> <h2>[1.6.1] 2021-05-12</h2> <h3>Added</h3> <h3>Changed</h3> <h3>Removed</h3> <h2>[1.6.0] 2021-05-12</h2> <h3>Added</h3> <ul> <li>Added infrastructure for building Grasshopper components for compas packages.</li> <li>Added first Grasshopper component: COMPAS Info.</li> <li>Added Grasshopper components for JSON serialization.</li> <li>Added <code>compas_rhino.utilities.set_object_attributes</code>.</li> <li>Added <code>from_jsonstring</code> and <code>to_jsonstring</code>.</li> </ul> <h3>Changed</h3> <ul> <li>Moved json dump and load to data package.</li> <li>Changed parameters and return value of <code>compas_rhino.utilities.get_object_attributes</code>.</li> <li>Removed <code>doctest</code> execution code from src.</li> <li>Removed <code>if name == 'main'</code> section from src.</li> <li>Optimized the conversion of Rhino Meshes to COMPAS meshes.</li> <li>Fix issue with GH User symlink created as directory symlink on some cases.</li> </ul> <h3>Removed</h3> <h2>[1.5.0] 2021-04-20</h2> <h3>Added</h3> <ul> <li>Added support for file-like objects, path strings and URLs to most of the methods previously accepting only file paths, eg. <code>compas.datastructures.Datastructure</code>, <code>compas.json_dump</code>, <code>compas.json_load</code>, etc.</li> <li>Added <code>pretty</code> parameter to <code>compas.json_dump</code> and <code>compas.json_dumps</code>.</li> <li>Added <code>compas.data.Data</code> as base object for all data objects (geometry, data structures, ...).</li> </ul> <h3>Changed</h3> <!-- raw HTML omitted --> </blockquote> <p>... (truncated)</p> </details> <details> <summary>Commits</summary> <ul> <li><a href="https://github.com/compas-dev/compas/commit/92902e173a83c1a32476275949314452188a2525"><code>92902e1</code></a> Bump version to 1.6.2</li> <li><a href="https://github.com/compas-dev/compas/commit/9f50de63b5f6d2a7219f6056913be204520bb753"><code>9f50de6</code></a> Adding wheel to the dev requirements</li> <li><a href="https://github.com/compas-dev/compas/commit/0c358789c574a250caf793a7075870a98d3c7eb9"><code>0c35878</code></a> Prepare changelog for next release</li> <li><a href="https://github.com/compas-dev/compas/commit/362c437d8f8b6b361bd61561e1ff4242529f6a63"><code>362c437</code></a> Bump version to 1.6.1</li> <li><a href="https://github.com/compas-dev/compas/commit/057dcb37966733768acbff610b9d0dbf33b3fcbf"><code>057dcb3</code></a> Fix release workflow syntax 🤦‍♂️</li> <li><a href="https://github.com/compas-dev/compas/commit/1a5850fef1c1dc494bc3ba205daacc70d4df9296"><code>1a5850f</code></a> Prepare changelog for next release</li> <li><a href="https://github.com/compas-dev/compas/commit/c6c173a4e2dec74b6f4e2bbe44a63aedc66ded6e"><code>c6c173a</code></a> Bump version to 1.6.0</li> <li><a href="https://github.com/compas-dev/compas/commit/d2c265aad6ded87acffcffa52e8c1fbf6c1973f3"><code>d2c265a</code></a> prep for release</li> <li><a href="https://github.com/compas-dev/compas/commit/77f23a3570ceb02ccc2300e88280f7218ef4e201"><code>77f23a3</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/compas-dev/compas/issues/828">#828</a> from compas-dev/ghcomponents_json</li> <li><a href="https://github.com/compas-dev/compas/commit/49ab5f9a7d9fe7ccf45a463a7817152666f7adbb"><code>49ab5f9</code></a> Update input/output parameter names</li> <li>Additional commits viewable in <a href="https://github.com/compas-dev/compas/compare/v0.17.2...v1.6.2">compare view</a></li> </ul> </details> <br />

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Superseded by #22.

Updates the requirements on compas to permit the latest version. <details> <summary>Release notes</summary> <p><em>Sourced from <a href="https://github.com/compas-dev/compas/releases">compas's releases</a>.</em></p> <blockquote> <h2>COMPAS 1.7.1</h2> <h3>Added</h3> <h3>Changed</h3> <ul> <li>Fixed bundling of ghuser components</li> </ul> <h3>Removed</h3> </blockquote> </details> <details> <summary>Changelog</summary> <p><em>Sourced from <a href="https://github.com/compas-dev/compas/blob/main/CHANGELOG.md">compas's changelog</a>.</em></p> <blockquote> <h2>[1.7.1] 2021-06-14</h2> <h3>Added</h3> <h3>Changed</h3> <ul> <li>Fixed bundling of ghuser components</li> </ul> <h3>Removed</h3> <h2>[1.7.0] 2021-06-14</h2> <h3>Added</h3> <ul> <li>Added pluggable function <code>trimesh_gaussian_curvature</code> in <code>compas_rhino</code>.</li> <li>Added pluggable function <code>trimesh_mean_curvature</code> in <code>compas_rhino</code>.</li> <li>Added pluggable function <code>trimesh_principal_curvature</code> in <code>compas_rhino</code>.</li> <li>Added <code>copy</code> and <code>deepcopy</code> functionality to <code>compas.robots.Configuration</code>.</li> <li>Added grasshopper component for drawing a frame.</li> <li>Added <code>draw_origin</code> and <code>draw_axes</code></li> </ul> <h3>Changed</h3> <ul> <li>Allow str or int as joint type in <code>compas.robots.Joint</code> constructor.</li> <li><code>compas_ghpython.artists.FrameArtist.draw</code> now draws a Rhino Plane.</li> <li>Fixed bugs in <code>compas.geometry.bestfit_circle_numpy</code>.</li> <li>Changed directory where ghuser components are installed.</li> <li>Added ghuser components directory to those removed by the <code>clean</code> task.</li> <li>Clean up the ghuser directory before building ghuser components.</li> <li>Fixed bug in <code>compas.geometry.distance.closest_point_on_segment_xy</code>.</li> <li>Fixed bug in Rhino implementations of <code>trimesh</code> curvature functions.</li> </ul> <h3>Removed</h3> <h2>[1.6.3] 2021-05-26</h2> <h3>Added</h3> <ul> <li>Added <code>compas.topology.astar_lightest_path</code>.</li> <li>Added jsonschema definitions for primitives and transformations.</li> <li>Added schema implementation to primitives and transformations.</li> <li>Added jsonschema implementation to primitives and transformations.</li> <li>Added <code>compas.data.is_int3</code>, <code>compas.data.is_float3</code>, <code>compas_data.is_float4x4</code>.</li> </ul> <h3>Changed</h3> <ul> <li>Extended <code>compas.topology.astar_shortest_path</code> to work on <code>compas.datastructures.Mesh</code> and <code>compas.datastructures.Network</code>.</li> <li>Fixed <code>compas.data.Data.to_jsonstring</code>.</li> </ul> <!-- raw HTML omitted --> </blockquote> <p>... (truncated)</p> </details> <details> <summary>Commits</summary> <ul> <li><a href="https://github.com/compas-dev/compas/commit/9874fc8ca00d93015224af68acb5b74bc5398f58"><code>9874fc8</code></a> Bump version to 1.7.1</li> <li><a href="https://github.com/compas-dev/compas/commit/533e55fd75aab1bc9e96e43b751801ef92b57b5f"><code>533e55f</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/compas-dev/compas/issues/863">#863</a> from compas-dev/fix_ghuser_bundling</li> <li><a href="https://github.com/compas-dev/compas/commit/5964e1077daada76847b3aa7cc0a9208861782eb"><code>5964e10</code></a> Fix bundling of GH user components</li> <li><a href="https://github.com/compas-dev/compas/commit/c454af5e67a7b800036af2ac81d9d43cd7f49d1f"><code>c454af5</code></a> Prepare changelog for next release</li> <li><a href="https://github.com/compas-dev/compas/commit/8b020402d56b9e2119dff452342c03f9e8ca9779"><code>8b02040</code></a> Bump version to 1.7.0</li> <li><a href="https://github.com/compas-dev/compas/commit/fc2ba04fdda8f6abe16551f6513704fbeb7a9f9b"><code>fc2ba04</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/compas-dev/compas/issues/860">#860</a> from compas-dev/fix-trimesh-curvature-input</li> <li><a href="https://github.com/compas-dev/compas/commit/db51dc95a5a156899d41432dbd757d8f306cbf3b"><code>db51dc9</code></a> remove for loops</li> <li><a href="https://github.com/compas-dev/compas/commit/c68bd78f62bd5d9472e9ae2c47b4cca6f3ce3406"><code>c68bd78</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/compas-dev/compas/issues/856">#856</a> from swsglobal/fix_closest_point_on_segment_xy</li> <li><a href="https://github.com/compas-dev/compas/commit/ce63b8936605ccb74e06f5dd6e48e3e3afd462c3"><code>ce63b89</code></a> tests: add more tests for closest_point_segment_xy</li> <li><a href="https://github.com/compas-dev/compas/commit/aef77465a7bf7edc02e3eb27932e6cdb8f85f538"><code>aef7746</code></a> fix closest_point_on_segment_xy</li> <li>Additional commits viewable in <a href="https://github.com/compas-dev/compas/compare/v0.17.2...v1.7.1">compare view</a></li> </ul> </details> <br />

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yay!! looking forward! 👍

@gonzalocasas thanks for the elegant example. I'm messing about with a tesseract, of ROS-Industrial fame

tesseract includes a KDL IK solver & FCL collision detection ( which was what build upon in the good ol' Odico days ), but most of all, implements the trajopt algorithm, and also the descartes ROS-I planner

I'll hit you with a draft PR when there's something worth sharing. The fact that compas_fab supports a generic PlannerInterface is highly encouraging 💎

I realize that I already said that before, but now we've tested it and are sure it works, I was aiming at adding it to the docs these sprint, but perhaps it slips to the next one in a week or two.

@jf--- actually, it is already very viable. Internally, some projects have been running with that for a couple of months now, we will add docs for it to the main documentation in the short term! ;)

@gonzalocasas any thoughts on what bar the conda ROS install would need to meet, to be considered a viable alternative to docker?