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)

Attributes

data

Returns the data dictionary that represents the tool.

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

axes

Returns the joints' axes.

dtype

The type of the object in the form of a '2-level' import and a class name.

frames

Returns the frames of links that have a visual node.

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

from_data

Construct a ToolModel from its data representation.

from_robot_model

Creates a ToolModel from a compas.robots.RobotModel instance.

from_t0cf_to_tcf

Converts frames at the robot's flange (tool0 frame) to frames at the robot's tool tip (tcf frame).

from_tcf_to_t0cf

Converts a list of frames at the robot's tool tip (tcf frame) to frames at the robot's flange (tool0 frame).

Inherited Methods

add_joint

Adds a joint to the robot model.

add_link

Adds a link to the robot model.

compute_transformations

Recursive function to calculate the transformations of each joint.

copy

Make an independent copy of the data object.

ensure_geometry

Check if geometry has been loaded.

find_children_joints

Returns a list of all children joints of the link.

find_parent_joint

Returns the parent joint of the link or None if not found.

forward_kinematics

Calculate the robot's forward kinematic.

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.

from_urdf_file

Construct a robot model from a URDF file model description.

from_urdf_string

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

Get a joint in a robot model matching by its name.

get_joint_types

Returns the joint types of the configurable joints.

get_joint_types_by_names

Get a list of joint types given a list of joint names.

get_link_by_name

Get a link in a robot model matching by its name.

get_urdf_element

iter_chain

Iterator over the chain of all elements between a pair of start and end elements.

iter_joint_chain

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

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

Load external geometry resources, such as meshes.

random_configuration

Get a random configuration.

remove_joint

Removes a joint to the robot model.

remove_link

Removes a link to the robot model.

scale

Scales the robot by factor (absolute).

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.

to_urdf_file

Construct a URDF file model description from a robot model.

to_urdf_string

Construct a URDF string model description from a robot model.

transformed_axes

Returns the transformed axes based on the joint_state.

transformed_frames

Returns the transformed frames based on the joint_state.

validate_data

Validate the object's data against its data schema (self.DATASCHEMA).

validate_json

Validate the object's data against its json schema (self.JSONSCHEMA).

zero_configuration

Get the zero joint configuration.