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)

Methods

add_joint(name, type, parent_link, child_link)

Adds a joint to the robot model.

add_link(name[, visual_meshes, …])

Adds a link to the robot model.

compute_transformations(joint_state[, link, …])

Recursive function to calculate the transformations of each joint.

ensure_geometry()

Check if geometry has been loaded.

find_children_joints(link)

Returns a list of all children joints of the link.

find_parent_joint(link)

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

forward_kinematics(joint_state[, link_name])

Calculate the robot’s forward kinematic.

from_data(data)

Construct a ToolModel from its data representation.

from_json(filepath)

Construct a ToolModel from the data contained in a JSON file.

from_robot_model(robot, frame_in_tool0_frame)

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

from_t0cf_to_tcf(frames_t0cf)

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

from_tcf_to_t0cf(frames_tcf)

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

from_urdf_file(file)

Construct a robot model from a URDF file model description.

from_urdf_string(text)

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(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(names)

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

get_link_by_name(name)

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

get_urdf_element()

iter_chain([start, end])

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

iter_joint_chain([link_start_name, …])

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([link_start_name, link_end_name])

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(*resource_loaders, **kwargs)

Load external geometry resources, such as meshes.

random_configuration()

Get a random configuration.

remove_joint(name)

Removes a joint to the robot model.

remove_link(name)

Removes a link to the robot model.

scale(factor[, link])

Scales the robot by factor (absolute).

to_data()

Returns the data dictionary that represents the RobotModel.

to_json(filepath)

Serialise the data dictionary representing the tool to JSON and store in a file.

to_urdf_file(file[, prettify])

Construct a URDF file model description from a robot model.

to_urdf_string([prettify])

Construct a URDF string model description from a robot model.

transformed_axes(joint_state)

Returns the transformed axes based on the joint_state.

transformed_frames(joint_state)

Returns the transformed frames based on the joint_state.

validate_data()

Validate the data of this object against its data schema (self.DATASCHEMA).

validate_json()

Validate the data loaded from a JSON representation of the data of this object against its data schema (self.DATASCHEMA).

zero_configuration()

Get the zero joint configuration.