RobotModelArtist

class compas_rhino.artists.RobotModelArtist(model, layer=None)[source]

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

Visualizer for robots inside a Rhino environment.

Parameters

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

• layer (str, optional) – The name of the layer that will contain the robot meshes.

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.
build(item, **kwargs)	Build an artist corresponding to the item type.
clear()
clear_layer()	Clear the main layer of the artist.
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()	Same as draw_visual.
draw_attached_meshes()	Draw all the geometries attached to the robot model.
draw_collision()	Draw all the collision geometries of the robot model.
draw_visual()	Draw all the visual geometries of the robot model.
meshes([link, visual, collision, …])	Returns all compas meshes of the model.
redraw([timeout])	Redraw the Rhino view.
register(item_type, artist_type)
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.