VrepPlanner

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

Bases: PlannerInterface

Implement the planner backend interface for V-REP.

Methods

add_attached_collision_mesh	Adds a building member to the 3D scene and attaches it to the robot.
add_collision_mesh	Adds meshes to the 3D scene.
forward_kinematics	Calculates forward kinematics to get the current end-effector pose.
inverse_kinematics	Calculates inverse kinematics to find valid robot configurations for the specified goal frame.
pick_building_member	Picks up a building member and attaches it to the robot.
plan_motion	Finds a path plan to move the selected robot from its current position to the goal_constraints.
plan_motion_to_config	Find a path plan to move the selected robot from its current position to one of the goal_configs.
remove_collision_mesh	Removes objects from the 3D scene.

Inherited Methods

append_collision_mesh	Default method for planner.
get_planning_scene	Default method for planner.
plan_cartesian_motion	Default method for planner.
remove_attached_collision_mesh	Default method for planner.
reset_planning_scene	Default method for planner.