RobotSemantics¶

class compas_fab.robots.RobotSemantics(robot_model, groups=None, main_group_name=None, passive_joints=None, end_effectors=None, disabled_collisions=None, group_states=None)[source]¶

Bases: object

Represents semantic information of a robot.

The semantic model is based on the Semantic Robot Description Format (SRDF).

References

Methods

__init__(robot_model[, groups, …])	Initialize self.
from_srdf_file(file, robot_model)	Create an instance of semantics based on an SRDF file path or file-like object.
from_srdf_string(text, robot_model)	Create an instance of semantics based on an SRDF string.
from_xml(xml, robot_model)	Create an instance of semantics based on an XML object.
get_all_configurable_joints()
get_base_link_name([group])
get_configurable_joint_names([group])
get_configurable_joints([group])
get_end_effector_link_name([group])

Attributes

group_names