RobotModel
- class compas.robots.RobotModel(name, joints=[], links=[], materials=[], **kwargs)[source]
Bases:
compas.data.data.Data
RobotModel is the root element of the model.
Instances of this class represent an entire robot as defined in an URDF structure.
In line with URDF limitations, only tree structures can be represented by this model, ruling out all parallel robots.
- Attributes
name – Unique name of the robot.
joints – List of joint elements.
links – List of links of the robot.
materials – List of global materials.
root – Root link of the model.
attr – Non-standard attributes.
Attributes
axes
Returns the joints' axes.
data
Returns the data dictionary that represents the
RobotModel
.frames
Returns the frames of links that have a visual node.
Inherited Attributes
DATASCHEMA
The schema of the data of this object.
JSONSCHEMA
The schema of the JSON representation of the data of this object.
JSONSCHEMANAME
dtype
The type of the object in the form of a '2-level' import and a class name.
guid
The globally unique identifier of the object.
jsondefinitions
Reusable schema definitions.
jsonstring
The representation of the object data in JSON format.
jsonvalidator
JSON schema validator for draft 7.
name
The name of the object.
Methods
Adds a joint to the robot model.
Adds a link to the robot model.
Recursive function to calculate the transformations of each joint.
Check if geometry has been loaded.
Returns a list of all children joints of the link.
Returns the parent joint of the link or None if not found.
Calculate the robot's forward kinematic.
Construct the
compas.robots.RobotModel
from its data representation.Construct a robot model from a URDF file model description.
Construct a robot model from a URDF description as string.
Returns the name of the base link.
Returns the configurable joint names.
Returns the configurable joints.
Returns the end effector link.
Returns the name of the end effector link.
Get a joint in a robot model matching by its name.
Returns the joint types of the configurable joints.
Get a list of joint types given a list of joint names.
Get a link in a robot model matching by its name.
Iterator over the chain of all elements between a pair of start and end elements.
Iterator over the chain of joints between a pair of start and end links.
Iterator over the joints that starts with the root link's children joints.
Iterator over the chain of links between a pair of start and end links.
Iterator over the links that starts with the root link.
Load external geometry resources, such as meshes.
Get a random configuration.
Removes a joint to the robot model.
Removes a link to the robot model.
Scales the robot by factor (absolute).
Construct a URDF file model description from a robot model.
Construct a URDF string model description from a robot model.
Returns the transformed axes based on the joint_state.
Returns the transformed frames based on the joint_state.
Get the zero joint configuration.
Inherited Methods
Make an independent copy of the data object.
Construct an object from serialized data contained in a JSON file.
Construct an object from serialized data contained in a JSON string.
Convert an object to its native data representation.
Serialize the data representation of an object to a JSON file.
Serialize the data representation of an object to a JSON string.
Validate the object's data against its data schema (self.DATASCHEMA).
Validate the object's data against its json schema (self.JSONSCHEMA).