from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
import math
import sys
from compas.robots import Joint
from compas_fab.backends.interfaces import InverseKinematics
from compas_fab.backends.pybullet.conversions import pose_from_frame
from compas_fab.backends.pybullet.exceptions import InverseKinematicsError
from compas_fab.utilities import LazyLoader
pybullet = LazyLoader('pybullet', globals(), 'pybullet')
__all__ = [
'PyBulletInverseKinematics',
]
class PyBulletInverseKinematics(InverseKinematics):
"""Callable to calculate the robot's inverse kinematics for a given frame."""
def __init__(self, client):
self.client = client
def inverse_kinematics(self,
robot,
frame_WCF,
start_configuration=None,
group=None,
options=None):
from __future__ import absolute_import
from __future__ import division
from __future__ import print_function
from compas_fab.backends.interfaces import AddAttachedCollisionMesh
from compas_fab.backends.vrep.helpers import DEFAULT_OP_MODE
from compas_fab.backends.vrep.helpers import VrepError
from compas_fab.backends.vrep.helpers import assert_robot
from compas_fab.utilities import LazyLoader
__all__ = [
'VrepAddAttachedCollisionMesh',
]
vrep = LazyLoader('vrep', globals(),
'compas_fab.backends.vrep.remote_api.vrep')
class VrepAddAttachedCollisionMesh(AddAttachedCollisionMesh):
"""Callable to add a building member to the 3D scene and attach it to the robot.
"""
def __init__(self, client):
self.client = client
def add_attached_collision_mesh(self,
attached_collision_mesh,
options=None):
"""Adds a building member to the 3D scene and attaches it to the robot.
Args:
attached_collision_mesh (:class:`compas.datastructures.Mesh`): Mesh