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 to None.

• semantics (compas_fab.robots.RobotSemantics) – The semantic model of the robot. Defaults to None.

• 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_tool()	Detach the attached tool.
draw()	Alias of draw_visual().
draw_collision()	Draw the robot’s collision geometry using the defined Robot.artist.
draw_visual()	Draw the robot’s visual geometry using the defined Robot.artist.
ensure_client()	Check if the client is set.
ensure_geometry()	Check if the model’s geometry has been loaded.
ensure_semantics()	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_link_names_with_collision_geometry()	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[, …])
merge_group_with_full_configuration(…)	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.