compas_fab.backends

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

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

ROS

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!

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.

Analytical Kinematics

AnalyticalPyBulletClient

AnalyticalInverseKinematics

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

AnalyticalPlanCartesianMotion

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.

CollisionError

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

InverseKinematicsError

Exception raised when no IK solution can be found in PyBullet.

RosError

Wraps an exception that occurred on the communication with ROS.

RosValidationError

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

VrepError

Wraps an exception that occurred inside the simulation engine.

Interfaces

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