Robot

class compas_fab.robots.Robot(model=None, artist=None, semantics=None, client=None)[source]

Bases: Data

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.

Inherited Methods

ToString	Converts the instance to a string.
copy	Make an independent copy of the data object.
from_data	Construct an object of this type from the provided data.
from_json	Construct an object from serialized data contained in a JSON file.
from_jsonstring	Construct an object from serialized data contained in a JSON string.
sha256	Compute a hash of the data for comparison during version control using the sha256 algorithm.
to_data	Convert an object to its native data representation.
to_json	Serialize the data representation of an object to a JSON file.
to_jsonstring	Serialize the data representation of an object to a JSON string.
validate_data	Validate the object's data against its data schema.
validate_json	Validate the object's data against its json schema.