Tool¶

class compas_fab.robots.Tool(visual, frame_in_tool0_frame, collision=None, name='attached_tool', link_name=None)[source]¶

Bases: object

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

Attributes

visual (compas.datastructures.Mesh) – The visual mesh of the tool.
frame_in_tool0_frame (compas.geometry.Frame) – The frame of the tool in tool0 frame.
collision (compas.datastructures.Mesh) – The collision mesh representation of the tool.
name (str) – The name of the Tool. Defaults to ‘attached_tool’.
link_name (str) – The name of the Link to which the tool is attached. Defaults to None.

Examples

>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = Tool(mesh, frame)

Methods

`__init__`(visual, frame_in_tool0_frame[, …])	Initialize self.
`from_data`(data)	Construct a Tool from its data representation.
`from_json`(filepath)	Construct a Tool from the data contained in a JSON file.
`from_t0cf_to_tcf`(frames_t0cf)	Converts frames at the robot’s flange (tool0 frame) to frames at the robot’s tool tip (tcf frame).
`from_tcf_to_t0cf`(frames_tcf)	Converts a list of frames at the robot’s tool tip (tcf frame) to frames at the robot’s flange (tool0 frame).
`from_tool_model`(tool_model)
`to_json`(filepath)	Serialise the data dictionary representing the tool to JSON and store in a file.
`update_touch_links`([touch_links])

Attributes

`attached_collision_meshes`
`data`	Returns the data dictionary that represents the tool.
`frame`
`link_name`
`name`

Tool¶

COMPAS