VrepPlanner¶

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

Bases: compas_fab.backends.interfaces.client.PlannerInterface

Implement the planner backend interface for V-REP

Methods

__init__(client)	Initialize self.
add_attached_collision_mesh(*args, **kwargs)	Adds a building member to the 3D scene and attaches it to the robot.
add_collision_mesh(*args, **kwargs)	Adds meshes to the 3D scene.
append_collision_mesh(*args, **kwargs)	Default method for planner.
forward_kinematics(*args, **kwargs)	Calculates forward kinematics to get the current end-effector pose.
get_planning_scene(*args, **kwargs)	Default method for planner.
inverse_kinematics(*args, **kwargs)	Calculates inverse kinematics to find valid robot configurations for the specified goal frame.
pick_building_member(*args, **kwargs)	Picks up a building member and attaches it to the robot.
plan_cartesian_motion(*args, **kwargs)	Default method for planner.
plan_motion(*args, **kwargs)	Finds a path plan to move the selected robot from its current position to the goal_constraints.
plan_motion_to_config(*args, **kwargs)	Find a path plan to move the selected robot from its current position to one of the goal_configs.
remove_attached_collision_mesh(*args, **kwargs)	Default method for planner.
remove_collision_mesh(*args, **kwargs)	Removes objects from the 3D scene.
reset_planning_scene(*args, **kwargs)	Default method for planner.