MoveItPlanner

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

Bases: PlannerInterface

Implement the planner backend interface based on MoveIt!

Methods

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