compas_fab

This library provides tools to plan and execute robotic fabrication processes using the COMPAS Framework with a special focus on enabling its usage from within CAD environments.

Robots

The core features are located in the robots module. The backend implementations for motion planning are located in the backends module.

• compas_fab.robots
  • Main classes
  • Path planning
  • Planning scene
  • Targets
  • Constraints
  • Built-in robots
  • Unit conversion
• compas_fab.backends
  • ROS
  • PyBullet
  • Analytical Kinematics
  • Long-running tasks
  • Exceptions
  • Interfaces

CAD integration

The following modules provide functions for use within different CAD environments.

• compas_fab.blender
• compas_fab.ghpython
• compas_fab.rhino

Utilities

• compas_fab.sensors
• compas_fab.utilities