Tool

class compas_fab.robots.Tool[source]

Bases: Data

Represents a tool to be attached to the robot’s flange.

Examples

>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = Tool(mesh, frame)

Attributes:

visualcompas.datastructures.Mesh: The visual mesh of the tool.
frame_in_tool0_framecompas.geometry.Frame: The frame of the tool in tool0 frame.
collisioncompas.datastructures.Mesh: The collision mesh representation of the tool.
namestr: The name of the Tool. Defaults to ‘attached_tool’.
connected_tostr: The name of the Link to which the tool is attached. Defaults to None.

Methods

`from_t0cf_to_tcf`	Converts frames at the robot's flange (tool0 frame) to frames at the robot's tool tip (tcf frame).
`from_tcf_to_t0cf`	Converts a list of frames at the robot's tool tip (tcf frame) to frames at the robot's flange (tool0 frame).
`from_tool_model`
`update_touch_links`

Inherited Methods

`ToString`	Converts the instance to a string.
`copy`	Make an independent copy of the data object.
`from_json`	Construct an object of this type from a JSON file.
`from_jsonstring`	Construct an object of this type from a JSON string.
`sha256`	Compute a hash of the data for comparison during version control using the sha256 algorithm.
`to_json`	Convert an object to its native data representation and save it to a JSON file.
`to_jsonstring`	Convert an object to its native data representation and save it to a JSON string.
`validate_data`	Validate the data against the object's data schema.