Robot

class compas_fab.robots.Robot(model, artist=None, semantics=None, client=None)[source]

Bases: object

Represents a robot.

This class binds together several building blocks, such as the robot’s descriptive model, its semantic information and an instance of a backend client into a cohesive programmable interface. This representation builds upon the model described in the class compas.robots.RobotModel of the COMPAS framework.

model

The robot model, usually created from an URDF structure.

Type

compas.robots.RobotModel

artist

Instance of the artist used to visualize the robot. Defaults to None.

Type

BaseRobotArtist, optional

semantics

The semantic model of the robot. Defaults to None.

Type

compas_fab.robots.RobotSemantics, optional

client

The backend client to use for communication, e.g. compas_fab.backends.RosClient

Type

optional

Methods

__init__(model[, artist, semantics, client])	Initialize self.
attach_tool(tool[, group, touch_links])	Attach a tool to the robot independently of the model definition.
basic(name[, joints, links, materials])	Convenience method to create the most basic instance of a robot, based only on a name.
constraints_from_configuration(…[, group])	Returns joint constraints on all joints of the configuration.
constraints_from_frame(frame_WCF, …[, group])	Returns a position and orientation constraint on the group’s end-effector link.
detach_tool()	Detaches the attached tool.
draw()	Draws the visual geometry of the robot in the respective CAD environment.
draw_attached_tool()	Draws the attached tool if set.
draw_collision()	Draws the collision geometry of the robot in the respective CAD environment.
draw_visual()	Draws the visual geometry of the robot in the respective CAD environment.
ensure_client()	Checks if the client is set.
ensure_semantics()	Checks if semantics is set.
forward_kinematics(configuration[, group, …])	Calculate the robot’s forward kinematic.
forward_kinematics_robot_model(configuration)	Calculate the robot’s forward kinematic with the robot model.
from_attached_tool_to_tool0(frames_tcf)	Converts a list of frames at the robot’s tool tip (tcf frame) to frames at the robot’s flange (tool0 frame) using the attached tool.
from_tool0_to_attached_tool(frames_t0cf)	Converts frames at the robot’s flange (tool0 frame) to frames at the robot’s tool tip (tcf frame) using the attached tool.
get_RCF([group])	Returns the origin frame of the robot.
get_base_frame([group])	Returns the frame of the base link, which is the robot’s origin frame.
get_base_link([group])	Returns the base link.
get_base_link_name([group])	Returns the name of the base link.
get_configurable_joint_names([group])	Returns the configurable joint names.
get_configurable_joint_types([group])	Returns the configurable joint types.
get_configurable_joints([group])	Returns the configurable joints.
get_end_effector_frame([group])	Returns the end effector’s frame.
get_end_effector_link([group])	Returns the end effector link.
get_end_effector_link_name([group])	Returns the name of the end effector link.
get_group_configuration(group, …)	Returns the group’s configuration.
get_joint_by_name(name)	Returns the joint in the robot model matching its name.
get_joint_types_by_names(names)	Returns a list of joint types for a list of joint names.
get_link_names([group])	Returns the names of the links in the chain.
get_position_by_joint_name(configuration, …)	Returns the value of the joint_name in the passed configuration.
info()	Prints information about the robot.
init_configuration([group])	Returns the init joint configuration.
inverse_kinematics(frame_WCF[, …])	Calculate the robot’s inverse kinematic for a given frame.
merge_group_with_full_configuration(…)	Returns a robot’s full configuration by merging a group’s configuration with a full configuration.
orientation_constraint_from_frame(frame_WCF, …)	Returns an orientation constraint on the group’s end-effector link.
plan_cartesian_motion(frames_WCF[, …])	Calculates a cartesian motion path (linear in tool space).
plan_motion(goal_constraints[, …])	Calculates a motion path.
position_constraint_from_frame(frame_WCF, …)	Returns a position and orientation constraint on the group’s end-effector link.
random_configuration([group])	Returns a random configuration.
scale(factor)	Scales the robot geometry by factor (absolute).
set_RCF(robot_coordinate_frame[, group])	Moves the origin frame of the robot to the robot_coordinate_frame.
to_local_coords(frame_WCF[, group])	Represents a frame from the world coordinate system (WCF) in the robot’s coordinate system (RCF).
to_world_coords(frame_RCF[, group])	Represents a frame from the robot’s coordinate system (RCF) in the world coordinate system (WCF).
transformation_RCF_WCF([group])	Returns the transformation from the robot’s coordinate system (RCF) to the world coordinate system (WCF).
transformation_WCF_RCF([group])	Returns the transformation from the world coordinate system (WCF) to the robot’s coordinate system (RCF).
transformed_axes(configuration[, group])	Returns the robot’s transformed axes.
transformed_frames(configuration[, group])	Returns the robot’s transformed frames.
update(configuration[, group, visual, collision])	Updates the robot’s geometry.

Attributes

artist	The artist which is used to visualize the robot.
group_names	All planning groups of the robot.
main_group_name	The robot’s main planning group.
name	Name of the robot, as defined by its model
root_name	The robot’s root name.
scale_factor	The robot’s scale factor.

__init__(model, artist=None, semantics=None, client=None)[source]

Initialize self. See help(type(self)) for accurate signature.