compas_fab.robots

This package contains classes for robot modeling and they are used by the simulation, planning and execution backends to exchange information.

Main classes

Robot	Represents a robot.
RobotSemantics	Represents semantic information of a robot.
Tool	Represents a tool to be attached to the robot's flange.
Duration	Duration is used to accurately describe the passage of time.
Wrench	A wrench represents force in free space, separated into its linear (force) and angular (torque) parts.
Inertia	The moments of inertia represent the spatial distribution of mass in a rigid body.
ReachabilityMap	The ReachabilityMap describes the reachability of a robot.
DeviationVectorsGenerator	Calculates equally distributed vectors that deviate from the specified one by a maximal angle of max_alpha.
OrthonormalVectorsFromAxisGenerator	Generate vectors that are orthonormal to an axis.

Path planning

JointTrajectory	Describes a joint trajectory as a list of trajectory points.
JointTrajectoryPoint	Defines a point within a trajectory.
Trajectory	Base trajectory class.

Planning scene

AttachedCollisionMesh	Represents a collision mesh that is attached to a Robot's compas_robots.model.Link.
CollisionMesh	Represents a collision mesh.
PlanningScene	Represents the planning scene.

Targets and Waypoints

Target	Represents a kinematic target for motion planning.
FrameTarget	Represents a fully constrained pose target for the robot's end-effector using a compas.geometry.Frame.
PointAxisTarget	Represents a point and axis target for the robot's end-effector motion planning.
ConfigurationTarget	Represents a configuration target for the robot's end-effector motion planning.
ConstraintSetTarget	Represents a list of Constraint as the target for motion planning.
Waypoints	Represents a sequence of kinematic target for motion planning.
FrameWaypoints	Represents a sequence of fully constrained pose target for the robot's end-effector using a compas.geometry.Frame.
PointAxisWaypoints	Represents a sequence of point and axis targets for the robot's end-effector motion planning.

Constraints

BoundingVolume	A container for describing a bounding volume.
Constraint	Base class for robot constraints.
JointConstraint	Constrains the value of a joint to be within a certain bound.
OrientationConstraint	Constrains a link to be within a certain orientation.
PositionConstraint	Constrains a link to be within a certain bounding volume.

Built-in robots

RobotLibrary

A collection of built-in robots that can be used for testing and example purposes.

Unit conversion

The unit systems most commonly used in COMPAS FAB are meters and radians. The following functions help with converting units from one system to the other.

to_degrees	Convert a list of floats representing radians to a list of degrees.
to_radians	Convert a list of floats representing degrees to a list of radians.