RobotModelArtist

class compas_ghpython.artists.RobotModelArtist(*args, **kwargs)[source]

Bases: compas_ghpython.artists.artist.GHArtist, compas.artists.robotmodelartist.RobotModelArtist

Artist for drawing robot models.

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.

build(item, **kwargs)

Build an artist corresponding to the item type.

build_as(item, artist_type, **kwargs)

clear()

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_collection(collection)

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.

redraw()

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.