SimulationCoordinator

class compas_fab.fab.robots.rfl.SimulationCoordinator

Bases: object

Coordinates the execution of simulation using different strategies. For instance, it allows to run a path planning simulation on one node or distribute it among many nodes and get multiple solutions as result.

The coordinator takes as input one large dictionary-like structure with the entire definition of a path planning job. The following shows an example of this, exposing all possible configuration values:

{
    'debug': True,
    'trials': 1,
    'shallow_state_search': True,
    'optimize_path_length': False,
    'algorithm': 'rrtconnect',
    'resolution': 0.02,
    'collision_meshes': [],
    'robots': [
        {
            'robot': 12,
            'start': {
                'joint_values': [90.0, 100.0, -160.0, 180.0, 30.0, -90.0],
                'external_axes': [9562.26, -2000, -3600]
            },
        }
        {
            'robot': 11,
            'start': {
                'joint_values': [90.0, 100.0, -160.0, 180.0, 30.0, -90.0],
                'external_axes': [9562.26, -1000, -4600]
            },
            'goal': {
                'values': [-0.98, 0.16, 0.0, 1003, 0.0, 0.0, -1.0, -5870, -0.16, -0.98, 0.0, -1500]
            },
            'building_member': {
                'attributes': {
                    'name': 'Mesh',
                }
            },
            'joint_limits': {
                'gantry': [
                    [0, 20000],
                    [-12000, 0],
                    [-4600, -1000]
                ],
                'arm': [
                    [-180, 180],
                    [-90, 150],
                    [-180, 75],
                    [-400, 400],
                    [-125, 120],
                    [-400, 400]
                ]
            },
            'metric_values': [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1],
        }
    ]
}

classmethod local_executor(options, host='127.0.0.1', port=19997)

classmethod remote_executor(options, executor_host='127.0.0.1', port=7000)