compas_fab.backends

This package contains classes backends for simulation, planning and execution.

ROS

Classes to interact with ROS and the MoveIt planning framework.

RosClient

Interface to use ROS as backend via the rosbridge.

RosFileServerLoader

Allows to retrieve the mesh files specified in the robot model from the ROS File Server.

MoveItPlanner

Implement the planner backend interface based on MoveIt!

RosError

Wraps an exception that occurred on the communication with ROS.

RosValidationError

Wraps an exception that occurred on validation of a ROS response.

PyBullet

Classes to interact with PyBullet.

PyBulletClient

Interface to use pybullet as backend.

PyBulletPlanner

Implement the planner backend interface for PyBullet.

PyBulletError

Base case for exceptions in compas_fab.backends.pybullet.

CollisionError

Exception raised when two objects have been found to be in collision in PyBullet.

V-REP

Classes to interact with V-REP.

VrepClient

Interface to run simulations using VREP as the engine for kinematics and path planning.

VrepPlanner

Implement the planner backend interface for V-REP.

VrepError

Wraps an exception that occurred inside the simulation engine.

Analytical Kinematics

Pure-python implementation of analytic IK solvers.

IK solvers

AnalyticalInverseKinematics

Callable to calculate the robot's inverse kinematics for a given frame.

AnalyticalPlanCartesianMotion

OffsetWristKinematics

SphericalWristKinematics

AnalyticalPyBulletClient

Robot-specific kinematics

UR3Kinematics

Analytical IK solver for UR3 robots.

UR3eKinematics

Analytical IK solver for UR3 e-Series robots.

UR5Kinematics

Analytical IK solver for UR5 robots.

UR5eKinematics

Analytical IK solver for UR5 e-Series robots.

UR10Kinematics

Analytical IK solver for UR10 e-Series robots.

UR10eKinematics

Analytical IK solver for UR10 e-Series robots.

Staubli_TX260LKinematics

Analytical IK solver for the Stäubli TX2 60L robot.

ABB_IRB4600_40_255Kinematics

Analytical IK solver for the ABB IRB4600 40/255 robot.

Long-running tasks

FutureResult

Represents a future result value.

CancellableFutureResult

Represents a future result of a long-running asynchronous operation that can be cancelled.

Exceptions

BackendError

Indicates an exceptional state that caused an error within the backend engine.

CartesianMotionError

Exception raised when no path can be found.

KinematicsError

Indicates a kinematic solver exception.

InverseKinematicsError

Indicates that no IK solution could be found by the kinematic solver.

Interfaces

For details about integrating new backends, check the Backend clients documentation.