RobotArtist

class compas_fab.rhino.RobotArtist(robot, layer=None)[source]

Bases: compas_fab.artists.base.BaseRobotArtist

Visualizer for robots inside a Rhino environment.

Parameters

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

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

Methods

__init__(robot[, layer])

Initialize self.

attach_tool(tool)

Attach a tool to the robot artist.

clear_layer()

Clear the main layer of the artist.

create([link])

Recursive function that triggers the drawing of the robot geometry.

detach_tool()

Detach the tool.

draw_collision()

Draws all collision geometry of the robot.

draw_geometry(geometry[, name, color])

Draw a COMPAS geometry in the respective CAD environment.

draw_visual()

Draws all visual geometry of the robot.

redraw([timeout])

Redraw the Rhino view.

scale(factor)

Scales the robot 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(configuration[, visual, collision])

Triggers the update of the robot geometry.