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.