compas_fab.robots

This package contains classes for robot modeling and they are used by the simulation, planning and execution backends to exchange information.

Main classes

Robot

Represents a robot.

RobotSemantics

Represents semantic information of a robot.

Configuration

Represents the configuration of a robot based on the state of its joints.

Tool

Represents a tool to be attached to the robot’s flange.

Duration

Duration consists of two integers: seconds and nanoseconds.

Wrench

A wrench represents force in free space, separated into its linear (force) and angular (torque) parts.

Inertia

The moments of inertia represent the spatial distribution of mass in a rigid body.

Path planning

JointTrajectory

Describes a joint trajectory as a list of trajectory points.

JointTrajectoryPoint

Defines a point within a trajectory.

PathPlan

Describes a complete path plan for one or more robots.

Planning scene

AttachedCollisionMesh

Represents a collision mesh that is attached to a Robot’s Link.

CollisionMesh

Represents a collision mesh.

PlanningScene

Represents the planning scene.

Constraints

BoundingVolume

A container for describing a bounding volume.

Constraint

Base class for robot constraints.

JointConstraint

Constrains the value of a joint to be within a certain bound.

OrientationConstraint

Constrains a link to be within a certain orientation.

PositionConstraint

Constrains a link to be within a certain bounding volume.

Unit conversion

The unit systems most commonly used in COMPAS FAB are meters and radians. The following functions help with converting units from one system to the other.

to_degrees

Convert a list of floats representing radians to a list of degrees.

to_radians

Convert a list of floats representing degrees to a list of radians.