VrepClient

class compas_fab.backends.VrepClient(host='127.0.0.1', port=19997, scale=1.0, lua_script='RFL', debug=False)[source]

Bases: compas_fab.backends.interfaces.client.ClientInterface

Interface to run simulations using VREP as the engine for kinematics and path planning.

VrepClient is a context manager type, so it’s best used in combination with the with statement to ensure resource deallocation.

Parameters

host (str) – IP address or DNS name of the V-REP simulator.
port (int) – Port of the V-REP simulator.
scale (int) – Scaling of the model. Defaults to meters (1).
lua_script (str) – Name of the LUA script on the V-REP scene.
debug (bool) – True to enable debug messages, False otherwise.

Examples

>>> from compas_fab.backends import VrepClient
>>> with VrepClient() as client:
...     print ('Connected: %s' % client.is_connected)
Connected: True

Note

For more examples, check out the V-REP examples page.

Methods

`__init__`([host, port, scale, lua_script, debug])
`add_attached_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`add_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`append_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`find_raw_robot_states`(group, goal_vrep_pose, ...)
`forward_kinematics`(args, *kwargs)	Forwards call to appropriate method in the planner.
`get_all_visible_handles`()	Gets a list of object handles (identifiers) for all visible shapes of the 3D model.
`get_object_handle`(object_name)	Gets the object handle (identifier) for a given object name.
`get_object_matrices`(object_handles)	Gets a dictionary of matrices keyed by object handle.
`get_planning_scene`(args, *kwargs)	Forwards call to appropriate method in the planner.
`get_robot_config`(robot)	Gets the current configuration of the specified robot.
`inverse_kinematics`(args, *kwargs)	Forwards call to appropriate method in the planner.
`plan_cartesian_motion`(args, *kwargs)	Forwards call to appropriate method in the planner.
`plan_motion`(args, *kwargs)	Forwards call to appropriate method in the planner.
`remove_attached_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`remove_collision_mesh`(args, *kwargs)	Forwards call to appropriate method in the planner.
`reset_planning_scene`(args, *kwargs)	Forwards call to appropriate method in the planner.
`run_child_script`(function_name, in_ints, ...)
`set_robot_config`(robot, config)	Moves the robot to the specified configuration.
`set_robot_metric`(group, metric_values)	Assigns a metric defining relations between axis values of a robot.
`set_robot_pose`(robot, frame)	Moves the robot to a given pose, specified as a frame.

Attributes

is_connected

Indicates whether the client has an active connection.

VrepClient

COMPAS