# compas\_fab **URL:** https://forum.compas-framework.org/c/compas-fab/11.md [Latest](https://forum.compas-framework.org/latest.md) · [Categories](https://forum.compas-framework.org/categories.md) --- ## [About the compas\_fab category](https://forum.compas-framework.org/t/about-the-compas-fab-category/91)
**Author:** [@gonzalocasas](https://forum.compas-framework.org/u/gonzalocasas)\ **Replies:** 0
Ask questions here about the functionality provided by the compas\_fab package, the different solvers and visualization options. More information about compas\_fab is available in the docs: https://gramaziokohler.github.io… --- ## [Failed to build connection between ROS backend and rhino 7](https://forum.compas-framework.org/t/failed-to-build-connection-between-ros-backend-and-rhino-7/960)
**Author:** [@DeruiZHAO](https://forum.compas-framework.org/u/DeruiZHAO)\ **Replies:** 8\ **Last updated:** [January 19, 2025, 10:45am UTC](https://forum.compas-framework.org/t/failed-to-build-connection-between-ros-backend-and-rhino-7/960 "2025-01-19T10:45:56Z")
Hi, everyone, I am new to compas\_fab and I’m having a few issues with the ROS backend. I followed all the official guidelines, including checking in VS Code that the ROS backend is connected. However, when I run the sa… --- ## [Visualize robot Rhino 8](https://forum.compas-framework.org/t/visualize-robot-rhino-8/887)
**Author:** [@Marco\_Palma](https://forum.compas-framework.org/u/Marco_Palma)\ **Replies:** 15\ **Last updated:** [October 7, 2024, 12:02pm UTC](https://forum.compas-framework.org/t/visualize-robot-rhino-8/887 "2024-10-07T12:02:16Z")
Hello Compas, it seems I can’t have this basic example file to run in Rhino 8. I only tested Version 8 SR9 (8.9.24194.18121, 2024-07-12). Here a list of the exceptions I get for the different installations of compas\_fa… --- ## [Moveit config + Analytical Solver for GoFa-12](https://forum.compas-framework.org/t/moveit-config-analytical-solver-for-gofa-12/875)
**Author:** [@Marco\_Palma](https://forum.compas-framework.org/u/Marco_Palma)\ **Replies:** 6\ **Last updated:** [September 21, 2024, 11:38am UTC](https://forum.compas-framework.org/t/moveit-config-analytical-solver-for-gofa-12/875 "2024-09-21T11:38:15Z")
Hello compas\_fab ! I am looking for some guidance on how to produce a moveit configuration for the GoFa 12kg on the base of the already existing \[abb\_crb15000\_5\_95\_moveit\_config\]. I saw @gonzalocasas signature on the r… --- ## [DH Parameters for CRB15000 GOFA Robot](https://forum.compas-framework.org/t/dh-parameters-for-crb15000-gofa-robot/711)
**Author:** [@Jingwen\_Wang](https://forum.compas-framework.org/u/Jingwen_Wang)\ **Replies:** 3\ **Last updated:** [August 18, 2024, 1:20pm UTC](https://forum.compas-framework.org/t/dh-parameters-for-crb15000-gofa-robot/711 "2024-08-18T13:20:10Z")
I am currently working on implementing the analytical inverse kinematics calculation for a CRB1500 GOFA robot using PyBullet and compas\_fab. As part of this process, I am examining the implementation of the analytical in… --- ## [Error installing compas\_fab for Rhino 7 on Mac](https://forum.compas-framework.org/t/error-installing-compas-fab-for-rhino-7-on-mac/796)
**Author:** [@deltaniel](https://forum.compas-framework.org/u/deltaniel)\ **Replies:** 3\ **Last updated:** [April 6, 2024, 12:20pm UTC](https://forum.compas-framework.org/t/error-installing-compas-fab-for-rhino-7-on-mac/796 "2024-04-06T12:20:54Z")
We have a few students that are getting the following error when trying to install compas\_fab for Rhino 7 while on macOS with arm64. They were instructed to install compas\_fab via conda-forge, and when running python -m … --- ## [Planning trajectories with a mounted tool](https://forum.compas-framework.org/t/planning-trajectories-with-a-mounted-tool/766)
**Author:** [@sabrina](https://forum.compas-framework.org/u/sabrina)\ **Replies:** 1\ **Last updated:** [February 21, 2024, 9:15pm UTC](https://forum.compas-framework.org/t/planning-trajectories-with-a-mounted-tool/766 "2024-02-21T21:15:52Z")
Hi everyone, I’m having some troubles planning motion after mounting a tool on my robot. When i compute the trajectory, I have this message : “Message type moveit\_msgs/GetCartesianPathRequest does not have a field start… --- ## [No IK solution when collision mesh of tool is above 27 faces](https://forum.compas-framework.org/t/no-ik-solution-when-collision-mesh-of-tool-is-above-27-faces/763)
**Author:** [@grangeot](https://forum.compas-framework.org/u/grangeot)\ **Replies:** 2\ **Last updated:** [August 31, 2023, 3:36pm UTC](https://forum.compas-framework.org/t/no-ik-solution-when-collision-mesh-of-tool-is-above-27-faces/763 "2023-08-31T15:36:32Z")
Hi, I’m having weird problem. The IK doesn’t return any solution if the collision mesh of the tool is above 27 faces. Everything worked fine before with the same files, with even more faces. Is there a cache somewhere t… --- ## [Confusion of different robot models](https://forum.compas-framework.org/t/confusion-of-different-robot-models/756)
**Author:** [@Zac\_Zhuo\_Zhang](https://forum.compas-framework.org/u/Zac_Zhuo_Zhang)\ **Replies:** 1\ **Last updated:** [August 15, 2023, 8:55pm UTC](https://forum.compas-framework.org/t/confusion-of-different-robot-models/756 "2023-08-15T20:55:32Z")
Hi COMPAS community: I just felt there is a bit of confusion in different robot models on page: compas\_fab - Robot models - at least they have different zero configurations: for example the ur5 model in ROS with the co… --- ## [Trajectory Planning in \`compas\_fab\`](https://forum.compas-framework.org/t/trajectory-planning-in-compas-fab/694)
**Author:** [@Zac\_Zhuo\_Zhang](https://forum.compas-framework.org/u/Zac_Zhuo_Zhang)\ **Replies:** 7\ **Last updated:** [April 19, 2023, 1:14pm UTC](https://forum.compas-framework.org/t/trajectory-planning-in-compas-fab/694 "2023-04-19T13:14:46Z")
Hi, probably it is not a bug but does happen several times when using compas\_fab, and can be a potential update for a better user experience. When using robot.plan\_motion in Python or the ‘Plan Motion’ component in Gras… --- ## [Cannot import coerce\_frame](https://forum.compas-framework.org/t/cannot-import-coerce-frame/657)
**Author:** [@DFLcode](https://forum.compas-framework.org/u/DFLcode)\ **Replies:** 3\ **Last updated:** [March 8, 2023, 1:19pm UTC](https://forum.compas-framework.org/t/cannot-import-coerce-frame/657 "2023-03-08T13:19:13Z")
Hello, I am new to using COMPAS fab and have followed some examples found on one of the GitHub workshop files for a pick-and-place application using a UR5 robot. Although I am receiving an error: Solution exception: c… --- ## [Planning with tcf after attaching a tool (ROS backend)](https://forum.compas-framework.org/t/planning-with-tcf-after-attaching-a-tool-ros-backend/581)
**Author:** [@ccyen](https://forum.compas-framework.org/u/ccyen)\ **Replies:** 6\ **Last updated:** [October 6, 2022, 1:44am UTC](https://forum.compas-framework.org/t/planning-with-tcf-after-attaching-a-tool-ros-backend/581 "2022-10-06T01:44:12Z")
What is the correct workflow to make the ROS backend plan motion/compute IK with tcf, instead of t0cf, after attaching a tool to the robot? In our current workflow using KUKA robots and KUKA|prc for Grasshopper, we defi… --- ## [Simulating AGV+Robot with ROS backend](https://forum.compas-framework.org/t/simulating-agv-robot-with-ros-backend/623)
**Author:** [@ccyen](https://forum.compas-framework.org/u/ccyen)\ **Replies:** 1\ **Last updated:** [September 16, 2022, 12:08pm UTC](https://forum.compas-framework.org/t/simulating-agv-robot-with-ros-backend/623 "2022-09-16T12:08:55Z")
I’m going to work on a mobile robot project. It’s still at its early stage, so no physical robotic arm and AGV are involved. Everything would be in simulation, and any AGV / robot model would be good enough. Currently, … --- ## [Define robot coordinate frame / base frame](https://forum.compas-framework.org/t/define-robot-coordinate-frame-base-frame/608)
**Author:** [@grangeot](https://forum.compas-framework.org/u/grangeot)\ **Replies:** 1\ **Last updated:** [July 29, 2022, 2:53pm UTC](https://forum.compas-framework.org/t/define-robot-coordinate-frame-base-frame/608 "2022-07-29T14:53:50Z")
Hi, We recently bolted a ABB CRB15000 GoFa on a custom table, and we are trying to change the robot coordinate frame in our grasshopper environment to build projects in the world coordinate of rhino/grasshopper, so that… --- ## [Invers kinematics without ROS](https://forum.compas-framework.org/t/invers-kinematics-without-ros/508)
**Author:** [@8H\_Y8](https://forum.compas-framework.org/u/8H_Y8)\ **Replies:** 3\ **Last updated:** [July 1, 2022, 1:06pm UTC](https://forum.compas-framework.org/t/invers-kinematics-without-ros/508 "2022-07-01T13:06:17Z")
Hello, everyone. I have a question about compas\_fab. There are examples of how “forward\_kinematics” can be used without activating ROS, but is it always necessary to use ROS to use “inverse\_kinematics”? https://gramaz… --- ## [Installing compas\_fab on osx\_arm](https://forum.compas-framework.org/t/installing-compas-fab-on-osx-arm/573)
**Author:** [@ccyen](https://forum.compas-framework.org/u/ccyen)\ **Replies:** 2\ **Last updated:** [March 31, 2022, 4:31am UTC](https://forum.compas-framework.org/t/installing-compas-fab-on-osx-arm/573 "2022-03-31T04:31:38Z")
I need to install compas and compas\_fab on an Apple M1 machine, and compas\_fab failed to be installed as there isn’t a package for osx\_arm architecture yet. As I recall I could build and install opencv on a Raspberry Pi … --- ## [Best practice setup for Examples \> 3. Backends: ROS \> 3.7-3.9](https://forum.compas-framework.org/t/best-practice-setup-for-examples-3-backends-ros-3-7-3-9/547)
**Author:** [@claimHF](https://forum.compas-framework.org/u/claimHF)\ **Replies:** 1\ **Last updated:** [January 4, 2022, 1:36pm UTC](https://forum.compas-framework.org/t/best-practice-setup-for-examples-3-backends-ros-3-7-3-9/547 "2022-01-04T13:36:24Z")
Hi, can anyone clarify what’s the best practice workflow while working on customized urdf like in the Docs \> Examples 3. Backends: ROS \> 3.7-3.9 while using docker instances of ros? Is it best to have a local wsl insta… --- ## [How to run a local robot arm with ROS](https://forum.compas-framework.org/t/how-to-run-a-local-robot-arm-with-ros/511)
**Author:** [@8H\_Y8](https://forum.compas-framework.org/u/8H_Y8)\ **Replies:** 2\ **Last updated:** [September 10, 2021, 3:41pm UTC](https://forum.compas-framework.org/t/how-to-run-a-local-robot-arm-with-ros/511 "2021-09-10T15:41:21Z")
Hi, every one. In compas\_fab, there are demos for running various robot arms(ex.ABB, KUKA and UR) with ROS. I would like to run a local robot arm model with ROS, not the one in the demo. Is there any way to run this? I… --- ## [Catkin Workspace Setup](https://forum.compas-framework.org/t/catkin-workspace-setup/479)
**Author:** [@gegardne](https://forum.compas-framework.org/u/gegardne)\ **Replies:** 7\ **Last updated:** [May 21, 2021, 8:07pm UTC](https://forum.compas-framework.org/t/catkin-workspace-setup/479 "2021-05-21T20:07:24Z")
Hi, I am trying to follow example 3.7 in Compas\_Fab (creating a URDF). When I try to create a catkin workspace and run the command: Catkin\_make I get the following error: CMake Error: CMake was unable to find a build … --- ## [RViz Backend UI not showing via noVNC](https://forum.compas-framework.org/t/rviz-backend-ui-not-showing-via-novnc/444)
**Author:** [@JorivdKolk](https://forum.compas-framework.org/u/JorivdKolk)\ **Replies:** 3\ **Last updated:** [March 18, 2021, 8:42pm UTC](https://forum.compas-framework.org/t/rviz-backend-ui-not-showing-via-novnc/444 "2021-03-18T20:42:22Z")
I have installed the UR5 Demo in docker. The container seems to be running properly, I have been following the examples on the Compas fab website. I wanted to look at the UI through noVNC, for the next example, but it se… --- ## [Feedback about UR10 on two linear axes and MoveIt](https://forum.compas-framework.org/t/feedback-about-ur10-on-two-linear-axes-and-moveit/296)
**Author:** [@cv\_ros\_user](https://forum.compas-framework.org/u/cv_ros_user)\ **Replies:** 2\ **Last updated:** [February 14, 2020, 9:35am UTC](https://forum.compas-framework.org/t/feedback-about-ur10-on-two-linear-axes-and-moveit/296 "2020-02-14T09:35:07Z")
Hello, I have read the following tutorial: Creating a URDF of the UR10 on two linear axes. I would like to know if the meshes are available somewhere? I am working on a potentially similar setup (prismatic joints for …