# 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

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.