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.