RobotModelArtist

class compas_ghpython.artists.RobotModelArtist(model)[source]

Bases: compas.robots.base_artist._artist.BaseRobotModelArtist, compas_ghpython.artists._artist.BaseArtist

Visualizer for robots inside a Grasshopper environment.

Parameters

model (compas.robots.RobotModel) – Robot model.

Methods

attach_mesh(mesh, name[, link, frame])	Rigidly attaches a compas mesh to a given link for visualization.
attach_tool_model(tool_model)	Attach a tool to the robot artist for visualization.
create([link, context])	Recursive function that triggers the drawing of the robot model’s geometry.
create_geometry(geometry[, name, color])	Draw a COMPAS geometry in the respective CAD environment.
detach_mesh(name)	Removes attached collision meshes with a given name.
detach_tool_model()	Detach the tool.
draw()
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([link, visual, collision, …])	Returns all compas meshes of the model.
scale(factor)	Scales the robot model’s geometry by factor (absolute).
scale_link(link, transformation)	Recursive function to apply the scale transformation on each link.
transform(native_mesh, transformation)	Transforms a CAD-specific geometry using a COMPAS transformation.
update(joint_state[, visual, collision])	Triggers the update of the robot geometry.
update_tool([joint_state, visual, …])	Triggers the update of the robot geometry of the tool.