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 (RobotModel) – The robot model, usually created from an URDF structure.
artist (compas.robots.base_artist.BaseRobotModelArtist) – Instance of the artist used to visualize the robot model. Defaults to None.
semantics (compas_fab.robots.RobotSemantics) – The semantic model of the robot. Defaults to None.
client (compas_fab.backends.interfaces.ClientInterface) – The backend client to use for communication, e.g. compas_fab.backends.RosClient
attributes (dict) – Named attributes related to the robot instance.
attached_tool (compas_fab.robots.Tool) – Instance of the tool attached to the robot, if any.

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])	Create the most basic instance of a robot, based only on name.
`constraints_from_configuration`(…[, group])	Create joint constraints for all joints of the configuration.
`constraints_from_frame`(frame_WCF, …[, group])	Create a position and an orientation constraint from a frame calculated for the group’s end-effector link.
`detach_tool`()	Detach the attached tool.
`draw`()	Alias of `draw_visual()`.
`draw_collision`()	Draw the robot’s collision geometry using the defined `Robot.artist`.
`draw_visual`()	Draw the robot’s visual geometry using the defined `Robot.artist`.
`ensure_client`()	Check if the client is set.
`ensure_semantics`()	Check if semantics is set.
`forward_kinematics`(configuration[, group, …])	Calculate the robot’s forward kinematic.
`forward_kinematics_deprecated`(configuration)
`from_t0cf_to_tcf`(frames_t0cf)	Convert frames at the robot’s flange (tool0 frame) to frames at the robot’s tool tip (tcf frame) using the attached tool.
`from_tcf_to_t0cf`(frames_tcf)	Convert 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.
`get_RCF`([group])	Get the origin frame of the robot.
`get_base_frame`([group, full_configuration])	Get the frame of the robot’s base link, which is the robot’s origin frame.
`get_base_link`([group])	Get the robot’s base link.
`get_base_link_name`([group])	Get the name of the robot’s base link.
`get_configurable_joint_names`([group])	Get the configurable joint names.
`get_configurable_joint_types`([group])	Get the configurable joint types.
`get_configurable_joints`([group])	Get the robot’s configurable joints.
`get_configuration_from_group_state`(group, …)	Get a `Configuration` from a group’s group state.
`get_end_effector_frame`([group, …])	Get the frame of the robot’s end effector.
`get_end_effector_link`([group])	Get the robot’s end effector link.
`get_end_effector_link_name`([group])	Get the name of the robot’s end effector link.
`get_group_configuration`(group, …)	Get the group’s configuration.
`get_group_names_from_link_name`(link_name)	Get the names of the groups link_name belongs to.
`get_joint_by_name`(name)	RGet the joint in the robot model matching the given name.
`get_joint_types_by_names`(names)	Get a list of joint types given a list of joint names.
`get_link_names`([group])	Get the names of the links in the kinematic chain.
`get_link_names_with_collision_geometry`()	Get the names of the links with collision geometry.
`get_position_by_joint_name`(configuration, …)	Get the position of named joint in given configuration.
`info`()	Print information about the robot.
`inverse_kinematics`(frame_WCF[, …])	Calculate the robot’s inverse kinematic for a given frame.
`inverse_kinematics_deprecated`(frame_WCF[, …])
`merge_group_with_full_configuration`(…)	Get the robot’s full configuration by merging a group’s configuration with a full configuration.
`orientation_constraint_from_frame`(frame_WCF, …)	Create an orientation constraint from a frame on the group’s end-effector link.
`plan_cartesian_motion`(frames_WCF[, …])	Calculate a cartesian motion path (linear in tool space).
`plan_cartesian_motion_deprecated`(frames_WCF)
`plan_motion`(goal_constraints[, …])	Calculate a motion path.
`plan_motion_deprecated`(goal_constraints[, …])
`position_constraint_from_frame`(frame_WCF, …)	Create a position constraint from a frame on the group’s end-effector link.
`random_configuration`([group])	Get a random configuration.
`scale`(factor)	Scale the robot geometry by a factor (absolute).
`set_RCF`(robot_coordinate_frame[, group])	Move the origin frame of the robot to the robot_coordinate_frame.
`to_local_coordinates`(frame_WCF[, group])	Represent a frame from the world coordinate system (WCF) in the robot’s coordinate system (RCF).
`to_world_coordinates`(frame_RCF[, group])	Represent a frame from the robot’s coordinate system (RCF) in the world coordinate system (WCF).
`transformation_RCF_WCF`([group])	Get the transformation from the robot’s coordinate system (RCF) to the world coordinate system (WCF).
`transformation_WCF_RCF`([group])	Get the transformation from the world coordinate system (WCF) to the robot’s coordinate system (RCF).
`transformed_axes`(configuration[, group])	Get the robot’s transformed axes.
`transformed_frames`(configuration[, group])	Get the robot’s transformed frames.
`update`(configuration[, group, visual, collision])	Update the robot’s geometry.
`zero_configuration`([group])	Get the zero joint configuration.

Attributes

`artist`	Artist used to visualize robot model.
`group_names`	All planning groups of the robot.
`group_states`	All group states of the robot.
`main_group_name`	Robot’s main planning group.
`name`	Name of the robot, as defined by its model.
`root_name`	Robot’s root name.
`scale_factor`	Robot’s scale factor.