RobotModelArtist

class compas.artists.RobotModelArtist(*args, **kwargs)[source]

Bases: AbstractRobotModelArtist, Artist

Provides common functionality to most robot model artist implementations.

In COMPAS, “artists” are classes that assist with the visualization of datastructures and models, in a way that maintains the data separated from the specific CAD interfaces, while providing a way to leverage native performance of the CAD environment.

There are two methods that implementers of this base class should provide, one is concerned with the actual creation of geometry in the native format of the CAD environment (create_geometry()) and the other is one to apply a transformation to geometry (transform()).

Attributes

model (compas.robots.RobotModel) – Instance of a robot model.

Methods

attach_mesh

Rigidly attaches a compas mesh to a given link for visualization.

attach_tool_model

Attach a tool to the robot artist for visualization.

create

Recursive function that triggers the drawing of the robot model's geometry.

detach_mesh

Removes attached collision meshes with a given name.

detach_tool_model

Detach the tool.

draw_attached_meshes

Draws all meshes attached to the robot model.

draw_collision

Draws all collision geometry of the robot model.

draw_visual

Draws all visual geometry of the robot model.

meshes

Returns all compas meshes of the model.

scale

Scales the robot model's geometry by factor (absolute).

scale_link

Recursive function to apply the scale transformation on each link.

update

Triggers the update of the robot geometry.

update_tool

Triggers the update of the robot geometry of the tool.

Inherited Methods

build

Build an artist corresponding to the item type.

build_as

Build an artist with the given type.

clear

Clear all objects from the view.

create_geometry

Draw geometry in the respective CAD environment.

draw

The main drawing method.

draw_collection

Drawing method for drawing an entire collection of objects.

redraw

Redraw the view.

register

Register an artist type to a data type.

transform

Transforms a CAD-specific geometry using a Transformation.