VrepClient

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

Bases: object

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])	Initialize self.
`add_building_member`(robot, building_member_mesh)	Adds a building member to the 3D scene and attaches it to the robot.
`add_meshes`(meshes)	Adds meshes to the 3D scene.
`forward_kinematics`(robot)	Calculates forward kinematics to get the current end-effector pose.
`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_robot_config`(robot)	Gets the current configuration of the specified robot.
`inverse_kinematics`(robot, goal_frame[, …])	Calculates inverse kinematics to find valid robot configurations for the specified goal frame.
`pick_building_member`(robot, …[, metric_values])	Picks up a building member and attaches it to the robot.
`plan_motion`(robot, goal_frame[, …])	Find a path plan to move the selected robot from its current position to the goal_frame.
`plan_motion_to_config`(robot, goal_configs[, …])	Find a path plan to move the selected robot from its current position to one of the goal_configs.
`remove_meshes`(mesh_handles)	Removes meshes from the 3D scene.
`remove_objects`(object_handles)	Removes objects from the 3D scene.
`run_child_script`(function_name, in_ints, …)
`set_robot_config`(robot, config)	Moves the robot to the specified configuration.
`set_robot_metric`(robot, 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

`SUPPORTED_PLANNERS`
`is_connected`	Indicates whether the client has an active connection.

VrepClient

COMPAS