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_tools (compas_fab.robots.Tool) – Dictionary mapping planning groups to the tool currently attached to them, if any.

Methods

`attach_tool`	Attach a tool to the robot independently of the model definition.
`basic`	Create the most basic instance of a robot, based only on name.
`constraints_from_configuration`	Create joint constraints for all joints of the configuration.
`constraints_from_frame`	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`	Calculate the robot's forward kinematic.
`forward_kinematics_deprecated`
`from_t0cf_to_tcf`	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`	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`	Get the origin frame of the robot.
`get_attached_tool_collision_meshes`	Returns a list of all attached collisions meshes of each of the attached tools, if any.
`get_base_frame`	Get the frame of the robot's base link, which is the robot's origin frame.
`get_base_link`	Get the robot's base link.
`get_base_link_name`	Get the name of the robot's base link.
`get_configurable_joint_names`	Get the configurable joint names.
`get_configurable_joint_types`	Get the configurable joint types.
`get_configurable_joints`	Get the robot's configurable joints.
`get_configuration_from_group_state`	Get a `Configuration` from a group's group state.
`get_end_effector_frame`	Get the frame of the robot's end effector.
`get_end_effector_link`	Get the robot's end effector link.
`get_end_effector_link_name`	Get the name of the robot's end effector link.
`get_group_configuration`	Get the group's configuration.
`get_group_names_from_link_name`	Get the names of the groups link_name belongs to.
`get_joint_by_name`	RGet the joint in the robot model matching the given name.
`get_joint_types_by_names`	Get a list of joint types given a list of joint names.
`get_link_names`	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`	Get the position of named joint in given configuration.
`info`	Print information about the robot.
`inverse_kinematics`	Calculate the robot's inverse kinematic for a given frame.
`inverse_kinematics_deprecated`
`iter_inverse_kinematics`	Iterate over the inverse kinematic solutions of a robot.
`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`	Create an orientation constraint from a frame on the group's end-effector link.
`plan_cartesian_motion`	Calculate a cartesian motion path (linear in tool space).
`plan_cartesian_motion_deprecated`
`plan_motion`	Calculate a motion path.
`plan_motion_deprecated`
`position_constraint_from_frame`	Create a position constraint from a frame on the group's end-effector link.
`random_configuration`	Get a random configuration.
`scale`	Scale the robot geometry by a factor (absolute).
`set_RCF`	Move the origin frame of the robot to the robot_coordinate_frame.
`to_local_coordinates`	Represent a frame from the world coordinate system (WCF) in the robot's coordinate system (RCF).
`to_world_coordinates`	Represent a frame from the robot's coordinate system (RCF) in the world coordinate system (WCF).
`transformation_RCF_WCF`	Get the transformation from the robot's coordinate system (RCF) to the world coordinate system (WCF).
`transformation_WCF_RCF`	Get the transformation from the world coordinate system (WCF) to the robot's coordinate system (RCF).
`transformed_axes`	Get the robot's transformed axes.
`transformed_frames`	Get the robot's transformed frames.
`update`	Update the robot's geometry.
`zero_configuration`	Get the zero joint configuration.