change log update

RELEASENOTES.md

@@ -8,15 +8,15 @@
   * New `TargetMode.Tool` mode allow users to specify the target location of the attached tool.
   * New `TargetMode.WORKPIECE` mode allow the same for the attached workpiece.
   * Forward kinematics functions also support target mode to return Robot, attached Tool or attached Workpiece frame.
-* New `RobotCell` class to represent all objects in a a robot cells, namely the RobotModel, ToolModel(s) and RigidBody(s). RobotSemantics is also here. Replaced Robot class.
+* New `RobotCell` class to represent all objects in a a robot cells, namely the RobotModel, ToolModel(s) and RigidBody(s). RobotSemantics is also here. Replaced `Robot` class.
   * New `PlannerInterface.set_robot_cell` function for the user to pass the robot cell to the planner.
   * New `RigidBody` class support separated Visual and Collision geometries.
 * New `RobotCellState` class to represent state of all objects in the robot cell, including robot Configuration, robot base frame (new), ToolState(s) and RigidBodyState(s).
   * New `RobotCellState._robot_base_frame` (relative to WCF) can now be changed by user.
     * Note that all RigidBody frames and Target frames are still relative to WCF (conceptually the same as before).
   * New `ToolState` class includes tool configuration (for kinematic tools) and attachment state (group and attachment frame) of the tool to the robot.
   * New `ToolState.attachment_frame` allows users to change the attachment location of a tool relative to the end-effector link.
-  * New `RigidBodyState` class can model both options of attaching the object to a robot link (e.g. cable dress-pack) and
+  * New `RigidBodyState` class can model both options of attaching the object to a robot link (e.g. cable dress-pack) and attaching to the tool (which is now referred to as a Workpiece).
 * Planning backends are redesigned to have stateless planning functions (e.g. `collision_check`, `inverse_kinematics`, `plan_motion`).
   * Stateless planning functions requires `RobotCellState` input, allowing different object states between planning calls.
   * It avoids the need for the user to keep track of the state in the planner between planning calls and even sessions.
@@ -32,14 +32,18 @@
   * New `RobotCellLibrary` contains pre-defined robots (e.g. UR5, UR10e, Panda, ABB IRB120, ABB IRB4600 and RFL) and also cells with tools and rigid bodies.
   * New `ToolLibrary` contain examples of static and kinematic tools.
   * New script to extract robot packages (URDF, SRDF and meshes) from the ROS docker to create new `RobotCellLibrary` objects.
+* New `SceneObject` classes for visualization
+  * Users should use the `RobotCellObject` class, which can visualize the entire robot cell.
+  * Users should first call `.update()` with the state class, then call `.draw()` to draw native CAD geometries.
+  * A temporary `RobotModelObject` class is provided to avoid changing the existing one in `compas_robots`
 * Redesigned the mechanism for dealing with non-meter scale input and output.
-  * Input: User created `RigidBody` can contain meshes that are not in meters by setting the `.scale` attribute.
+  * Input: User created `RigidBody` can contain meshes that are not in meters by setting the `.native_scale` attribute.
     * `RigidBody.visual_meshes_in_meters()` and `RigidBody.collision_meshes_in_meters()` functions can return the meshes in meters.
   * Input: User created `ToolModel` must be in meters to align with `compas_robot.RobotModel` that is always in meters.
-  * Input: User created `Targets` and `Waypoints` can have a `.target_scale` attribute to specify the scale.
+  * Input: User created `Targets` and `Waypoints` can have a `.native_scale` attribute to specify the scale.
     * Both classes have `.normalize_to_meters()` and `.normalized_to_meters()` functions to convert the target to meters.
-  * Output: Forward kinematics functions can return frames at other scales by setting the optional `scale` parameter.
-  * Output: `SceneObject` classes for visualization have a `scale` attribute to specify the drawing scale.
+  * Output: Forward kinematics functions can return frames at other scales by setting the optional `native_scale` parameter.
+  * Output: `SceneObject` classes for visualization have a `native_scale` attribute to specify the drawing scale.
   * Input / Output: `Configuration` and `Trajectory` objects always uses the Meter-Radian units, in accordance with ROS convention.
     * Conversion of joint values to other units for execution should be done by the user based on robot controller requirements.
   * All the `native_scale` attribute has the same meaning where `user_object_value * native_scale = meter_object_value`.
@@ -49,4 +53,8 @@
 ## Unreleased - To be Implemented Features
 
 * New `PlanMotion` function for `PyBulletPlanner`. Compatible with `FrameWaypoints` and `PointAxisWaypoints`.
-
+* New Grasshopper Components
+* `SceneObject` classes for Blender and Viewer
+* Restructure tutorial and new example files
+* Check and fix `ReachabilityMap`
+* Check and fix `AnalyticalKinematics` and `AnalyticalPlanner`