ToolModel

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

Bases: 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

`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.
`ur5`	"Construct a UR5 robot model.
`validate_data`	Validate the object's data against its data schema.
`validate_json`	Validate the object's data against its json schema.
`zero_configuration`	Get the zero joint configuration.

ToolModel

COMPAS