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.

Attributes

model (compas.robots.RobotModel) – The robot model, usually created from an URDF structure.
artist (BaseRobotArtist, optional) – Instance of the artist used to visualize the robot. Defaults to None.
semantics (compas_fab.robots.RobotSemantics, optional) – The semantic model of the robot. Defaults to None.
client (optional) – The backend client to use for communication, e.g. compas_fab.backends.RosClient

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,
`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.
`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, full_configuration])	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_group_names_from_link_name`(link_name)	Returns the group_names to which the link_name belongs to.
`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.
`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.
`zero_configuration`([group])	Returns the init joint configuration.

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.