AttachedCollisionMesh
- class compas_fab.robots.AttachedCollisionMesh[source]
Bases:
Data
Represents a collision mesh that is attached to a
Robot
’scompas_robots.model.Link
.- Parameters:
- collision_mesh
compas_fab.robots.CollisionMesh
The collision mesh to be attached to the robot model.
- link_name
str
The name of the
compas_robots.model.Link
the collision mesh will be attached to.- touch_links
list
ofstr
, optional The list of link names the collision mesh is allowed to touch. Defaults to the link it is attached to.
- weight
float
, optional The weight of the attached object in kg. Defaults to
1.0
.
- collision_mesh
Examples
>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl')) >>> cm = CollisionMesh(mesh, 'tip') >>> end_effector_link_name = 'tool0' >>> touch_links = ['wrist_3_link', 'tool0'] >>> acm = AttachedCollisionMesh(cm, end_effector_link_name, touch_links)
- Attributes:
- collision_mesh
compas_fab.robots.CollisionMesh
The collision mesh we want to attach.
- link_name
str
The name of the
compas_robots.model.Link
the collision mesh will be attached to.- touch_links
list
ofstr
The list of link names the collision mesh is allowed to touch. Defaults to the link it is attached to.
- weight
float
The weight of the attached object in kg.
- collision_mesh
Inherited Methods
Converts the instance to a string.
Make an independent copy of the data object.
Construct an object of this type from a JSON file.
Construct an object of this type from a JSON string.
Compute a hash of the data for comparison during version control using the sha256 algorithm.
Convert an object to its native data representation and save it to a JSON file.
Convert an object to its native data representation and save it to a JSON string.
Validate the data against the object's data schema.