FrameTarget

class compas_fab.robots.FrameTarget

Bases: Target

Represents a fully constrained pose target for the robot’s end-effector using a compas.geometry.Frame.

When using a FrameTarget, the end-effector has no translational or rotational freedom. In another words, the pose of the end-effector is fully defined (constrained).

Given a FrameTarget, the planner aims to find a path moving the robot’s Tool0 Coordinate Frame (T0CF) to the specified FrameTarget.target_frame.

If the user wants to plan with a tool (such that the Tool Coordinate Frame (TCF) is matched with the target), the tool_coordinate_frame parameter should be provided to define the TCF relative to the T0CF of the robot.

For robots with multiple end effector attachment points (such as the RFL Robot), the attachment point depends on the planning group selected in the planning request, see compas_fab.robots.Robot.plan_motion().

Attributes:

target_framecompas.geometry.Frame

The target frame.

tolerance_positionfloat, optional

The tolerance for the position. Unit is meters. If not specified, the default value from the planner is used.

tolerance_orientationfloat, optional

The tolerance for the orientation. Unit is radians. If not specified, the default value from the planner is used.

tool_coordinate_framecompas.geometry.Frame or compas.geometry.Transformation, optional

The tool tip coordinate frame relative to the flange of the robot. If not specified, the target frame is relative to the robot’s flange.

namestr, optional

The name of the target. Defaults to ‘Frame Target’.

Methods

from_transformation	Creates a FrameTarget from a transformation matrix.
scaled	Returns a copy of the target where the target frame and tolerances are scaled.

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.