MoveItPlanner¶

class compas_fab.backends.MoveItPlanner(client)[source]¶

Bases: compas_fab.backends.interfaces.client.PlannerInterface

Implement the planner backend interface based on MoveIt!

Methods

__init__(client)	Initialize self.
add_attached_collision_mesh(*args, **kwargs)	Add a collision mesh and attach it to the robot.
add_collision_mesh(*args, **kwargs)	Add a collision mesh to the planning scene.
append_collision_mesh(*args, **kwargs)	Append a collision mesh to the planning scene.
forward_kinematics(*args, **kwargs)	Calculate the robot’s forward kinematic.
get_planning_scene(*args, **kwargs)	Retrieve the planning scene.
inverse_kinematics(*args, **kwargs)	Calculate the robot’s inverse kinematic for a given frame.
plan_cartesian_motion(*args, **kwargs)	Calculates a cartesian motion path (linear in tool space).
plan_motion(*args, **kwargs)	Calculates a motion path.
remove_attached_collision_mesh(*args, **kwargs)	Remove an attached collision mesh from the robot.
remove_collision_mesh(*args, **kwargs)	Remove a collision mesh from the planning scene.
reset_planning_scene(*args, **kwargs)	Resets the planning scene, removing all added collision meshes.