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.

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.

Pure-python implementation of analytic IK solvers.

`AnalyticalInverseKinematics`	Callable to calculate the robot's inverse kinematics for a given frame.
`AnalyticalPlanCartesianMotion`
`OffsetWristKinematics`
`SphericalWristKinematics`
`AnalyticalPyBulletClient`

`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.

`FutureResult`	Represents a future result value.
`CancellableFutureResult`	Represents a future result of a long-running asynchronous operation that can be cancelled.

`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.

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