Robot

class compas_fab.fab.robots.rfl.Robot(id, client=None)

Bases: object

Represents an instance of the ABB robots of the Robotic Fabrication Lab.

Communication to the robot is delegated to the client instance passed when initializing the robot.

Parameters:

• id (int) – Robot identifier.
• client (object) – A client to execute the commands such as Simulator.

id

int – Robot identifier.

client

object – A client to execute the commands such as Simulator.

index

int – Robot index (for internal use).

dof

int – Degrees of freedom.

BASE_JOINT_VALUES = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

ROBOT_SETTINGS = {11: {'name': 'A', 'base_external_axes': [7000, -2000, -4000]}, 12: {'name': 'B', 'base_external_axes': [7000, -10000, -4000]}, 21: {'name': 'C', 'base_external_axes': [30000, -2000, -4000]}, 22: {'name': 'D', 'base_external_axes': [30000, -10000, -4000]}}

SUPPORTED_ROBOTS = (11, 12, 21, 22)

get_config()

Gets the current configuration of the robot.

Returns:config – Instance of (Configuration).

reset_config()

Resets a robot’s configuration to a safe initial position.

set_config(config)

Moves the robot the the specified configuration.

Parameters:config (Configuration) – Instance of robot’s configuration.

Examples

>>> from compas_fab.fab.robots.rfl import Simulator
>>> with Simulator() as simulator:
...     robot = Robot(11, simulator)
...     robot.set_config(Configuration.from_joints_and_external_axes(
...                      [90, 0, 0, 0, 0, -90],
...                      [7600, -4500, -4500]))
...