compas_fab.backends
This package contains classes backends for simulation, planning and execution.
ROS
Classes to interact with ROS and the MoveIt
planning
framework.
Interface to use ROS as backend via the rosbridge. |
|
Allows to retrieve the mesh files specified in the robot model from the ROS File Server. |
|
Implement the planner backend interface based on MoveIt! |
|
Wraps an exception that occurred on the communication with ROS. |
|
Wraps an exception that occurred on validation of a ROS response. |
PyBullet
Classes to interact with PyBullet.
Interface to use pybullet as backend. |
|
Implement the planner backend interface for PyBullet. |
|
Base case for exceptions in |
|
Exception raised when two objects have been found to be in collision in PyBullet. |
Analytical Kinematics
Pure-python implementation of analytic IK solvers.
IK solvers
Callable to calculate the robot's inverse kinematics for a given frame. |
|
Combination of PyBullet as the client for Collision Detection and Analytical Inverse Kinematics. |
Robot-specific kinematics
Analytical IK solver for UR3 robots. |
|
Analytical IK solver for UR3 e-Series robots. |
|
Analytical IK solver for UR5 robots. |
|
Analytical IK solver for UR5 e-Series robots. |
|
Analytical IK solver for UR10 e-Series robots. |
|
Analytical IK solver for UR10 e-Series robots. |
|
Analytical IK solver for the Stäubli TX2 60L robot. |
|
Analytical IK solver for the ABB IRB4600 40/255 robot. |
Long-running tasks
Represents a future result value. |
|
Represents a future result of a long-running asynchronous operation that can be cancelled. |
Exceptions
Indicates an exceptional state that caused an error within the backend engine. |
|
Indicates that the selected backend does not support the selected feature. |
|
Exception raised when no path can be found. |
|
Indicates that no IK solution could be found by the kinematic solver. |
|
Indicates a kinematic solver exception. |
Interfaces
For details about integrating new backends, check the Backend clients documentation.