Robot
-
class
compas_fab.robots.
Robot
(model, artist=None, semantics=None, client=None)[source] Bases:
object
Represents a robot.
This class binds together several building blocks, such as the robot’s descriptive model, its semantic information and an instance of a backend client into a cohesive programmable interface. This representation builds upon the model described in the class
compas.robots.RobotModel
of the COMPAS framework.- Attributes
model (
RobotModel
) – The robot model, usually created from an URDF structure.artist (
compas.robots.base_artist.BaseRobotModelArtist
) – Instance of the artist used to visualize the robot model. Defaults toNone
.semantics (
compas_fab.robots.RobotSemantics
) – The semantic model of the robot. Defaults toNone
.client (
compas_fab.backends.interfaces.ClientInterface
) – The backend client to use for communication, e.g.compas_fab.backends.RosClient
attributes (
dict
) – Named attributes related to the robot instance.attached_tool (
compas_fab.robots.Tool
) – Instance of the tool attached to the robot, if any.
Methods
__init__
(model[, artist, semantics, client])Initialize self.
attach_tool
(tool[, group, touch_links])Attach a tool to the robot independently of the model definition.
basic
(name[, joints, links, materials])Create the most basic instance of a robot, based only on name.
constraints_from_configuration
(…[, group])Create joint constraints for all joints of the configuration.
constraints_from_frame
(frame_WCF, …[, group])Create a position and an orientation constraint from a frame calculated for the group’s end-effector link.
Detach the attached tool.
draw
()Alias of
draw_visual()
.Draw the robot’s collision geometry using the defined
Robot.artist
.Draw the robot’s visual geometry using the defined
Robot.artist
.Check if the client is set.
Check if semantics is set.
forward_kinematics
(configuration[, group, …])Calculate the robot’s forward kinematic.
forward_kinematics_deprecated
(configuration)from_t0cf_to_tcf
(frames_t0cf)Convert frames at the robot’s flange (tool0 frame) to frames at the robot’s tool tip (tcf frame) using the attached tool.
from_tcf_to_t0cf
(frames_tcf)Convert a list of frames at the robot’s tool tip (tcf frame) to frames at the robot’s flange (tool0 frame) using the attached tool.
get_RCF
([group])Get the origin frame of the robot.
get_base_frame
([group, full_configuration])Get the frame of the robot’s base link, which is the robot’s origin frame.
get_base_link
([group])Get the robot’s base link.
get_base_link_name
([group])Get the name of the robot’s base link.
get_configurable_joint_names
([group])Get the configurable joint names.
get_configurable_joint_types
([group])Get the configurable joint types.
get_configurable_joints
([group])Get the robot’s configurable joints.
get_configuration_from_group_state
(group, …)Get a
Configuration
from a group’s group state.get_end_effector_frame
([group, …])Get the frame of the robot’s end effector.
get_end_effector_link
([group])Get the robot’s end effector link.
get_end_effector_link_name
([group])Get the name of the robot’s end effector link.
get_group_configuration
(group, …)Get the group’s configuration.
get_group_names_from_link_name
(link_name)Get the names of the groups link_name belongs to.
get_joint_by_name
(name)RGet the joint in the robot model matching the given name.
get_joint_types_by_names
(names)Get a list of joint types given a list of joint names.
get_link_names
([group])Get the names of the links in the kinematic chain.
Get the names of the links with collision geometry.
get_position_by_joint_name
(configuration, …)Get the position of named joint in given configuration.
info
()Print information about the robot.
inverse_kinematics
(frame_WCF[, …])Calculate the robot’s inverse kinematic for a given frame.
inverse_kinematics_deprecated
(frame_WCF[, …])Get the robot’s full configuration by merging a group’s configuration with a full configuration.
orientation_constraint_from_frame
(frame_WCF, …)Create an orientation constraint from a frame on the group’s end-effector link.
plan_cartesian_motion
(frames_WCF[, …])Calculate a cartesian motion path (linear in tool space).
plan_cartesian_motion_deprecated
(frames_WCF)plan_motion
(goal_constraints[, …])Calculate a motion path.
plan_motion_deprecated
(goal_constraints[, …])position_constraint_from_frame
(frame_WCF, …)Create a position constraint from a frame on the group’s end-effector link.
random_configuration
([group])Get a random configuration.
scale
(factor)Scale the robot geometry by a factor (absolute).
set_RCF
(robot_coordinate_frame[, group])Move the origin frame of the robot to the robot_coordinate_frame.
to_local_coordinates
(frame_WCF[, group])Represent a frame from the world coordinate system (WCF) in the robot’s coordinate system (RCF).
to_world_coordinates
(frame_RCF[, group])Represent a frame from the robot’s coordinate system (RCF) in the world coordinate system (WCF).
transformation_RCF_WCF
([group])Get the transformation from the robot’s coordinate system (RCF) to the world coordinate system (WCF).
transformation_WCF_RCF
([group])Get the transformation from the world coordinate system (WCF) to the robot’s coordinate system (RCF).
transformed_axes
(configuration[, group])Get the robot’s transformed axes.
transformed_frames
(configuration[, group])Get the robot’s transformed frames.
update
(configuration[, group, visual, collision])Update the robot’s geometry.
zero_configuration
([group])Get the zero joint configuration.
Attributes
artist
Artist used to visualize robot model.
group_names
All planning groups of the robot.
group_states
All group states of the robot.
main_group_name
Robot’s main planning group.
name
Name of the robot, as defined by its model.
root_name
Robot’s root name.
scale_factor
Robot’s scale factor.