FrameTarget
- class compas_fab.robots.FrameTarget[source]
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_frame
compas.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_frame
compas.geometry.Frame
orcompas.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 human-readable name of the target. Defaults to ‘Frame Target’.
- target_frame
Methods
Creates a FrameTarget from a transformation matrix.
Returns a copy of the
FrameTarget
where the target frame and tolerances are scaled.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.