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compas-fab-0.9.0
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مشاهده بیشترتوضیحات
Robotic fabrication package for the COMPAS Framework
| ویژگی | مقدار |
|---|---|
| سیستم عامل | - |
| نام فایل | compas-fab-0.9.0 |
| نام | compas-fab |
| نسخه کتابخانه | 0.9.0 |
| نگهدارنده | [] |
| ایمیل نگهدارنده | [] |
| نویسنده | Gramazio Kohler Research |
| ایمیل نویسنده | gramaziokohler@arch.ethz.ch |
| آدرس صفحه اصلی | https://github.com/compas-dev/compas_fab |
| آدرس اینترنتی | https://pypi.org/project/compas-fab/ |
| مجوز | MIT license |
============================================================
COMPAS FAB: Robotic Fabrication for COMPAS
============================================================
**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 <https://compas.dev/>`_,
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 <https://ros.org>`_)
* Planning tools: kinematic solvers, path planning, etc.
* Execution tools: feedback loops, robot control, etc.
**COMPAS FAB** runs on Python 3.x and IronPython 2.7.
Getting Started
---------------
The recommended way to install **COMPAS FAB** is to use `Anaconda/conda <https://conda.io/docs/>`_:
::
conda install -c conda-forge compas_fab
But it can also be installed using ``pip``:
::
pip install compas_fab
.. note::
On Windows, you may need to install
`Microsoft Visual C++ 14.0 <https://www.scivision.co/python-windows-visual-c++-14-required/>`_.
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
-----------
* `Documentation <https://gramaziokohler.github.io/compas_fab/>`_
* `COMPAS FAB Examples <https://gramaziokohler.github.io/compas_fab/latest/examples.html>`_
* `COMPAS FAB API Reference <https://gramaziokohler.github.io/compas_fab/latest/reference.html>`_
* `COMPAS Tutorials <https://compas.dev/compas/latest/tutorial.html>`_
* `COMPAS API Reference <https://compas.dev/compas/latest/api.html>`_
Questions and feedback
----------------------
We encourage the use of the `COMPAS framework forum <https://forum.compas-framework.org/>`_
for questions and discussions.
Contributing
------------
We love contributions!
Check the `Contributor's Guide <https://github.com/compas-dev/compas_fab/blob/main/CONTRIBUTING.rst>`_
for more details.
Releasing this project
----------------------
Ready to release a new version of **COMPAS FAB**? Here's how to do it:
* We use `semver <https://semver.org/>`_, 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 <https://github.com/gramaziokohler>`_
and a long list of `contributors <https://github.com/compas-dev/compas_fab/blob/main/AUTHORS.rst>`_
Changelog
=========
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>`_.
0.27.0
----------
**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.
**Deprecated**
**Removed**
0.26.0
----------
**Added**
* Added a new GH component - ``ConstraintsFromTargetConfiguration``
* Added some missing information to GH and V-REP docs.
* Added a ``Robot().attached_tools`` property to allow attaching tools to multiple planning groups simultaneously.
**Changed**
* Replaced icon for GH component - ``ConstraintsFromPlane``
* ``Robot().attached_tool`` now points to the tool attached to the ``robot.main_group_name``.
* Added parameter ``group`` to the ``AttachToolComponent``
**Fixed**
* Attaching a tool to a planning group doesn't overwrite the tool attached to other groups.
* Changed ``Trajectory`` to inherit from ``compas.data.Data`` class to fix a serialization error that expects guid to be present.
**Deprecated**
**Removed**
0.25.0
----------
**Changed**
* Changed Grasshopper components to default to icon display.
* Changed to use ``compas_rhino.conversions`` to coerce frames.
**Fixed**
* Fixed link parameter name when doing FK inside the GH component to display attached collision meshes.
* Fixed transform of the attached collision mesh frame inside the GH component.
* Fixed uninstall process not removing GH components.
0.24.0
----------
**Added**
* Added ``compas_fab.robots.ReachabilityMap``
* Added ``compas_fab.robots.DeviationVectorsGenerator``
* Added ``compas_fab.robots.OrthonormalVectorsFromAxisGenerator``
**Changed**
**Fixed**
* Fixed ``ROSmsg`` import on GH components for publish/subscribe.
**Deprecated**
**Removed**
0.23.0
----------
**Added**
* Added ``compas_fab.backends.PyBulletClient.load_ur5()`` method to simplify some examples.
* Added Grasshopper components to get a zero configuration and to merge two configurations.
**Changed**
* Moved all public API classes in ``compas_fab.backends`` to second-level imports.
* Updated to COMPAS 1.14.
* Simplified call to remove an attached tool by also removing the remaining collision mesh from the world automatically.
**Fixed**
* Fixed PyBullet loading of meshes.
* Fixed missing flag in reset planning scene call.
* Fixed issue on cartesian and kinematic planning when model contains passive joints.
* Fixed pose of collision mesh in ROS Noetic being ignored.
**Deprecated**
* Deprecated ``compas_fab.utilities.write_data_to_json`` in favor of ``compas.data.json_dump``.
* Deprecated ``compas_fab.utilities.read_data_from_json`` in favor of ``compas.data.json_load``.
**Removed**
0.22.0
----------
**Added**
* Added ``Attach Tool`` GH component: crowd-coded at McNeel's Robotic Fabrication Workshop!
**Changed**
**Fixed**
**Deprecated**
**Removed**
0.21.1
----------
**Added**
**Changed**
* Changed default wire visibility to hidden in some GH components for cleaner Grasshopper files.
**Fixed**
**Deprecated**
**Removed**
0.21.0
----------
**Added**
* Added a new backend: analytical kinematics for spherical-wrist and offset-wrist robots.
**Fixed**
* Consider ``AttachedCollisionMesh`` in ``AnalyticalInverseKinematics``.
0.20.1
----------
**Removed**
* Removed the bundled binary files for the `VrepClient` remote API. To use V-REP, use the `remoteApi` binaries provided with the software.
0.20.0
----------
**Added**
* Added ``PoseArray``, ``MultiArrayDimension``, ``MultiArrayLayout``, ``Int8MultiArray``, ``Float32MultiArray``, ``Int32`` to ``compas_fab.backends.ros.messages``
* Added ``unordered_disabled_collisions`` attribute to ``PyBulletClient`` and ``RobotSemantics``
* Added better support for concave meshes in the ``PyBulletClient``
* Added ``Robot.iter_inverse_kinematics`` to allow iterating over all IK solutions provided by a solver
**Changed**
* Changed the backend feature ``InverseKinematics.inverse_kinematics`` to be a generator. As a consequence of this, ``ClientInterface.inverse_kinematics`` and ``PlannerInterface.inverse_kinematics`` have changed to generators as well
* Standardized the yielded type of ``InverseKinematics.inverse_kinematics`` across the PyBullet, MoveIt and V-REP planners
* Added iterative accurate IK resolution for PyBullet
**Fixed**
* Fixed ``UnsupportedOperation`` error when using ``PyBulletClient`` in Jupyter notebook (raised by ``redirect_stdout``)
* Fixed ``JointTrajectoryPoint.from_data`` to be backward-compatible with JSON data generated before ``compas_fab`` 0.18
* Fixed ``JointTrajectory.from_data`` to be backward-compatible with JSON data generated before ``compas_fab`` 0.17
**Deprecated**
**Removed**
0.19.1
----------
**Added**
**Changed**
**Fixed**
* Fixed bundling of ghuser components
**Deprecated**
**Removed**
0.19.0
----------
**Added**
* Added documentation for Grasshopper components.
* Added Grasshopper components to publish and subscribe to ROS topics.
**Changed**
* Updated ``build-ghuser-components`` task
* Updated to COMPAS 1.7
**Fixed**
**Deprecated**
**Removed**
0.18.3
----------
**Added**
**Changed**
* Made consistent use of ``repr`` in nested objects
**Fixed**
* Fixed bug in ``compas.backends.PyBulletClient.convert_mesh_to_body`` circumventing PyBullet's propensity to cache
**Deprecated**
**Removed**
0.18.2
----------
**Added**
**Changed**
**Fixed**
**Deprecated**
**Removed**
0.18.1
----------
**Fixed**
* Fix error message during uninstall of Grasshopper components
0.18.0
----------
**Added**
* Grasshopper components now also for Mac
* Added support for MoveIt on ROS Noetic
* Added support for Python 3.9
**Changed**
* The ``Configuration`` class has moved to ``compas.robots``, but is still aliased within ``compas_fab.robots``
* Lazily load ``V-REP remoteApi`` library
**Fixed**
* Fixed ``repr()`` of ``ROSmsg`` class
* Fixed data type of secs and nsecs in ``Time`` ROS message
* Fixed ``CollisionObject.to_collision_meshes``
* Fixed serialization of joint names for ``compas_fab.robots.JointTrajectoryPoint``
* Fixed deserialization of ``AttachedCollisionMesh``
**Deprecated**
* ``compas_fab.robots.Configuration`` is being deprecated in favor of ``compas.robots.Configuration``
0.17.0
----------
**Added**
* Added python components library for Grasshopper
* Added ``compas_fab.robots.PyBulletClient.get_robot_configuration``
* Added ``compas_fab.robots.Robot.ensure_geometry``
* Added serialization methods to ``compas_fab.robots.CollisionMesh`` and ``compas_fab.robots.AttachedCollisionMesh``
* Added ``attached_collision_meshes`` attribute to ``compas_fab.robots.JointTrajectory``
* Added ``compas_fab.backends.PlanningSceneComponents.__ne__``
* Added dictionary behavior to ``compas_fab.robots.JointTrajectoryPoint.merge``
* Added length limitations to attributes of ``compas_fab.robots.JointTrajectoryPoint.merge``
**Changed**
* Updated to ``COMPAS 1.1``
* ``Configuration`` & ``JointTrajectoryPoint``: the attributes ``values`` and ``types`` changed to ``joint_values`` and `joint_types` respectively.
**Fixed**
* Fixed bug in the PyBullet client where one could not update the configuration of a robot with an attached collision mesh
* Fixed bug existing since version 0.12 where ``compas_fab.backends.RosClient.add_attached_collision_mesh`` added collision objects to the scene, but did not attached them to the robot
* Fixed bug when keys with ``None`` values were passed to the planner.
**Deprecated**
**Removed**
* Remove ``compas_fab.robots.JointTrajectoryPoint.merge``
0.16.0
----------
**Changed**
* Updated to ``COMPAS 1.0``
0.15.0
----------
**Added**
**Changed**
* Updated to ``COMPAS 0.19``
**Fixed**
**Deprecated**
**Removed**
0.14.0
----------
**Added**
* Added new backend feature ``ResetPlanningScene``
* Added ``MoveItResetPlanningScene``
**Changed**
* Updated to ``COMPAS 0.18``
* Use ``compas.IPY`` to check for IronPython
**Fixed**
* Fixed bug in ``remove_attached_tool`` of ``PlanningScene``
0.13.1
----------
**Added**
* Added ``name`` property to ``Tool`` class.
**Fixed**
* Fixed bug in ``add_attached_tool`` of ``PlanningScene``
* Fixed ``frame_id`` generation when tool name changes
* Fixed freeze with some sync planning scene methods on Grasshopper/IronPython
0.13.0
----------
**Changed**
* Updated to ``COMPAS 0.17``
0.12.0
----------
**Added**
* **PyBullet integration**: added support for PyBullet client and forward/inverse kinematic solver
* Added ``ClientInterface``, ``PlannerInterface`` and various backend feature interfaces
* Added implementations of these interfaces for ROS and V-REP
* Added ``attributes`` dictionary to ``Robot`` class
* Added ``compas_fab.robots.Tool.from_t0cf_to_tcf``
* Added ``compas_fab.robots.Tool.from_tcf_to_t0cf``
* Added ``joint_names`` as optional parameter for all ``compas_fab.robots.Configuration`` constructors
* Added ``compas_fab.robots.Configuration.iter_differences``
* Added ``compas_fab.robots.Configuration.max_difference``
* Added ``compas_fab.robots.Configuration.close_to``
* Added ``compas_fab.robots.Configuration.merge``
* Added ``compas_fab.robots.JointTrajectoryPoint.merge``
* Added ``compas_fab.robots.Semantics.group_states``
* Added ``compas_fab.robots.Robot.get_configuration_from_group_state``
**Changed**
* Updated to ``COMPAS 0.16.9``
* Renamed ``compas_fab.robots.Robot.to_local_coords`` to ``compas_fab.robots.Robot.to_local_coordinates``
* Renamed ``compas_fab.robots.Robot.to_world_coords`` to ``compas_fab.robots.Robot.to_world_coordinates``
* Backend clients have been restructured according to the new interfaces
* Parameter ``backend`` of forward kinematics has been renamed to ``solver``
* The signatures of all kinematics, motion planning and planning scene management methods have been homogenized across backend clients and within ``Robot``
* All examples have been updated to reflect these changes
* The installer to Rhino has been unified with COMPAS core. Now running ``python -m compas_rhino.install`` will also detect and install COMPAS FAB and its dependencies.
* Renamed all ``RobotArtist`` implementations to ``RobotModelArtist`` to reflect
the fact they depend on ``compas.robots.RobotModel``.
* Renamed ``compas_fab.robots.Robot.from_tool0_to_attached_tool`` to ``compas_fab.robots.Robot.from_t0cf_to_tcf``
* Renamed ``compas_fab.robots.Robot.from_attached_tool_to_tool0`` to ``compas_fab.robots.Robot.from_tcf_to_t0cf``
* Changed ROS planning scene methods to be synchronous.
**Fixed**
* Attached collision meshes are included in inverse kinematics calculations in ROS
**Deprecated**
* The methods ``forward_kinematics``, ``inverse_kinematics``, ``plan_cartesian_motion`` and ``plan_motion``
of ``Robot`` class have been refactored, but a backwards-compatible deprecated version with the old
signatures still exists suffixed by ``_deprecated``, e.g. ``forward_kinematics_deprecated``.
* ``RobotArtist`` are deprecated in favor of ``RobotModelArtist``.
**Removed**
0.11.0
----------
**Added**
* Added optional ``joint_names`` to ``Configuration``
* Added ``Configuration.scaled``
* Added ``full_joint_state`` to ``Robot.inverse_kinematics``
* Added ``Semantics.get_all_configurable_joints``
**Changed**
* Updated to ``COMPAS 0.15``
* Construct ``full_configuration`` with ``values``, ``types``, ``joint_names`` in ``Robot`` rather than in ``MoveItPlanner``
* ``MoveItPlanner`` returns ``start_configuration`` with set ``joint_names``
* Removed parameter ``names`` from ``RobotArtist.update``
* Updated Grasshopper examples
* ``Robot``: ``forward_kinematics`` returns now ``frame_WCF``
* ``MoveItPlanner``: ``forward_kinematics`` takes now instance of ``Configuration`` and ``robot``
* ``MoveItPlanner``: ``inverse_kinematics`` takes now instance of ``Configuration`` and ``robot``
* Property ``compas_fab.robots.Robot.artist`` does not try to scale robot
geometry if links and/or joints are not defined.
* In ``compas_fab.robots.constraints.JointConstraint``, added ``tolerance_above`` and
``tolerance_below`` for allowing asymmetrical constraints.
* In ``compas_fab.robots.Robot``, changed the ``constraints_from_configuration``
function with ``tolerances_above`` and ``tolerances_below``.
* ``compas_fab.robots.CollisionMesh.scale`` now takes a scale factor
instead of a ``compas.geometry.Scale`` instance as an argument.
**Fixed**
* Convert constraints on inverse kinematics and cartesian planner to ROS messages
* Fix support for trajectory constraints on kinematic planner
0.10.2
----------
**Added**
* Added Python 3.8 support
**Changed**
* Updated to ``COMPAS 0.13``
0.10.1
----------
**Fixed**
* Fix DAE parser to handle ``polylist`` meshes
* Bumped ``roslibpy`` dependency to ``0.7.1`` to fix blocking service call issue on Mac OS
0.10.0
----------
**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 ``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 ``compas_fab.blender.RobotArtist`` for Blender
* Fixed DAE parsing of meshes with multiple triangle sets
0.9.0
----------
**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``
0.8.0
----------
**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
0.7.0
----------
**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.
0.6.0
----------
**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``
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
نیازمندی
| مقدار | نام |
|---|---|
| <2.0,>=1.14 | compas |
| >=1.1.0 | roslibpy |
| - | pybullet |
| - | pyserial |
نحوه نصب
نصب پکیج whl compas-fab-0.9.0:
pip install compas-fab-0.9.0.whl
نصب پکیج tar.gz compas-fab-0.9.0:
pip install compas-fab-0.9.0.tar.gz