ToolModel

class compas.robots.ToolModel(visual, frame_in_tool0_frame, collision=None, name='attached_tool', link_name=None)[source]

Bases: compas.robots.model.robot.RobotModel

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

Attributes

visual (compas.datastructures.Mesh) – The visual mesh of the tool.
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 ToolModel. Defaults to ‘attached_tool’.
link_name (str) – The name of the Link to which the tool is attached. Defaults to None.

Examples

>>> import compas
>>> from compas.datastructures import Mesh
>>> from compas.geometry import Frame
>>> mesh = Mesh.from_stl(compas.get('cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = ToolModel(mesh, frame)

Methods

`__init__`(visual, frame_in_tool0_frame[, …])	Initialize self.
`add_joint`(name, type, parent_link, child_link)	Adds a joint to the robot model.
`add_link`(name[, visual_meshes, …])	Adds a link to the robot model.
`compute_transformations`(joint_state[, link, …])	Recursive function to calculate the transformations of each joint.
`find_children_joints`(link)	Returns a list of all children joints of the link.
`find_parent_joint`(link)	Returns the parent joint of the link or None if not found.
`forward_kinematics`(joint_state[, link_name])	Calculate the robot’s forward kinematic.
`from_data`(data)	Construct a ToolModel from its data representation.
`from_json`(filepath)	Construct a ToolModel from the data contained in a JSON file.
`from_robot_model`(robot, frame_in_tool0_frame)	Creates a `ToolModel` from a `compas.robots.RobotModel` instance.
`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_urdf_file`(file)	Construct a robot model from a URDF file model description.
`from_urdf_string`(text)	Construct a robot model from a URDF description as string.
`get_base_link_name`()	Returns the name of the base link.
`get_configurable_joint_names`()	Returns the configurable joint names.
`get_configurable_joints`()	Returns the configurable joints.
`get_end_effector_link`()	Returns the end effector link.
`get_end_effector_link_name`()	Returns the name of the end effector link.
`get_joint_by_name`(name)	Get a joint in a robot model matching by its name.
`get_joint_types`()	Returns the joint types of the configurable joints.
`get_link_by_name`(name)	Get a link in a robot model matching by its name.
`iter_chain`([start, end])	Iterator over the chain of all elements between a pair of start and end elements.
`iter_joint_chain`([link_start_name, …])	Iterator over the chain of joints between a pair of start and end links.
`iter_joints`()	Iterator over the joints that starts with the root link’s children joints.
`iter_link_chain`([link_start_name, link_end_name])	Iterator over the chain of links between a pair of start and end links.
`iter_links`()	Iterator over the links that starts with the root link.
`load_geometry`(resource_loaders, *kwargs)	Load external geometry resources, such as meshes.
`scale`(factor[, link])	Scales the robot by factor (absolute).
`to_data`()	Returns the data dictionary that represents the `RobotModel`.
`to_json`(filepath)	Serialise the data dictionary representing the tool to JSON and store in a file.
`transformed_axes`(joint_state)	Returns the transformed axes based on the joint_state.
`transformed_frames`(joint_state)	Returns the transformed frames based on the joint_state.
`validate_data`()	Validate the data of this object against its data schema (self.DATASCHEMA).
`validate_json`()	Validate the data loaded from a JSON representation of the data of this object against its data schema (self.DATASCHEMA).

ToolModel

COMPAS