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: Data

Represents semantic information of a robot.

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

References

Methods

from_data	Construct an object of this type from the provided data.
from_srdf_file	Create an instance of semantics based on an SRDF file path or file-like object.
from_srdf_string	Create an instance of semantics based on an SRDF string.
from_xml	Create an instance of semantics based on an XML object.
get_all_configurable_joints
get_base_link_name
get_configurable_joint_names
get_configurable_joints
get_end_effector_link_name

Inherited Methods

ToString	Converts the instance to a string.
copy	Make an independent copy of the data object.
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.