Robotic Fabrication for COMPAS

Robotic fabrication package for the COMPAS Framework facilitating 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, an open-source Python-based framework for collaboration and research in architecture, engineering and digital fabrication.

Main features

• Built on top of standard model description formats

• Motion planning tools

• Execution tools

• CAD-independent

• Robotic fabrication process modeling

• Multiple robotic backends (e.g. ROS: Robot Operating System)

COMPAS FAB runs on Python 3.x and IronPython 2.7.

Note

COMPAS FAB is still under very active development, with new versions being released frequently. The interface is not guaranteed to remain stable until the package reaches version 1.0.0.

Contents

• Introduction
• Getting started
• Working with backends
  • PyBullet
  • ROS
  • V-REP
  • Access backend GUI
• Examples
  • Fundamentals
    • Frame and Transformation
    • Coordinate frames
  • Description Models
    • Kinematic model
    • Robot models
  • Backends: ROS
    • Using ROS
    • Robots in ROS
    • Forward and inverse kinematics
    • Plan motion
    • Planning scene and collision objects
    • ROS in Grasshopper
    • Creating a URDF with an UR5 robot and a custom end-effector
    • Creating a MoveIt! package from the custom created URDF
    • Creating a URDF of the UR10 on two linear axes
  • Backends: V-REP
    • Simulation examples with V-REP
  • Backends: PyBullet
    • Using PyBullet
    • Forward and inverse kinematics
  • Backends: Analytical Kinematics
    • Analytical kinematics
  • Planning: Reachability Map
    • Introduction to the Reachability Map
    • Vector Generators
    • Reachability Map 2D
• API Reference
  • compas_fab
    • compas_fab.robots
    • compas_fab.backends
    • compas_fab.blender
    • compas_fab.ghpython
    • compas_fab.rhino
    • compas_fab.sensors
    • compas_fab.utilities
• Contributor’s Guide
  • Backend clients
    • ClientInterface
    • PlannerInterface
    • ForwardKinematics
    • InverseKinematics
    • PlanMotion
    • PlanCartesianMotion
    • GetPlanningScene
    • AddCollisionMesh
    • AppendCollisionMesh
    • RemoveCollisionMesh
    • AddAttachedCollisionMesh
    • RemoveAttachedCollisionMesh
    • ResetPlanningScene
  • Grasshopper components
• Citing
• Changelog
• License

Indices and tables

• Index

• Module Index