RobotModel

class compas.robots.RobotModel(name=None, joints=(), links=(), materials=(), **kwargs)[source]

Bases: 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 (str) – Unique name of the robot.

• joints (list[Joint]) – List of joint elements.

• links (list[Link]) – List of links of the robot.

• materials (list[Material]) – List of global materials.

• root (Link) – Root link of the model.

• attr (dict) – Non-standard attributes.

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.
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_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_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.
zero_configuration	Get the zero joint configuration.

Inherited Methods

ToString	Converts the instance to a string.
copy	Make an independent copy of the data object.
from_data	Construct an object of this type from the provided data.
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.
sha256	Compute a hash of the data for comparison during version control using the sha256 algorithm.
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.
validate_data	Validate the object's data against its data schema.
validate_json	Validate the object's data against its json schema.