Robot

class compas_fab.robots.Robot

Bases: Data

Represents a robot.

This class binds together several building blocks, such as the robot’s descriptive model, its semantic information and an instance of a backend client into a cohesive programmable interface. This representation builds upon the model described in the class compas_robots.RobotModel of the COMPAS framework.

Parameters:

modelcompas_robots.RobotModel

The robot model that describes robot kinematics, typically comes from an URDF structure.

scene_objectcompas_robots.scene.BaseRobotModelObject

Instance of the scene object used to visualize the robot model. Defaults to None.

semanticsRobotSemantics

The semantic model of the robot. Defaults to None.

clientClientInterface

The backend client to use for communication, e.g. RosClient

Attributes:

attributesdict

Named attributes related to the robot instance.

attached_toolsdict of [str, Tool], read-only

Dictionary of tools and the planning groups that the tools are currently attached to, if any.

attached_toolTool, read-only

Returns the tool attached to the default main planning group, if any.

clientClientInterface

The backend client to use for communication.

group_nameslist of str, read-only

All planning groups of the robot, only available if semantics is set.

group_statesdict of dict, read-only

All group states of the robot, only available if semantics is set.

scene_objectcompas_robots.scene.BaseRobotModelObject

Scene object used to visualize robot model.

main_group_namestr, read-only

Robot’s main planning group, only available if semantics is set.

modelcompas_robots.RobotModel

The robot model that describes robot kinematics, typically comes from an URDF structure.

namestr, read-only

Name of the robot, as defined by its model.

root_namestr, read-only

Robot’s root name.

semanticsRobotSemantics

The semantic model of the robot. Can be None if not loaded.

scale_factorfloat

A scale factor affecting planning targets, results and visualization.

Methods

attach_tool	Attach a tool to the robot independently of the model definition.
basic	Create the most basic instance of a robot, based only on name.
detach_tool	Detach the attached tool.
draw	Alias of draw_visual().
draw_collision	Draw the robot's collision geometry using the defined Robot.scene_object.
draw_visual	Draw the robot's visual geometry using the defined Robot.scene_object.
ensure_client	Check if the client is set.
ensure_geometry	Check if the model's geometry has been loaded.
ensure_semantics	Check if semantics is set.
forward_kinematics	Calculate the robot's forward kinematic.
from_t0cf_to_tcf	Convert frames at the robot's flange (tool0 frame) to frames at the robot's tool tip (tcf frame) using the attached tool.
from_tcf_to_t0cf	Convert a list of frames at the robot's tool tip (tcf frame) to frames at the robot's flange (tool0 frame) using the attached tool.
get_RCF	Get the origin frame of the robot.
get_attached_tool_collision_meshes	Returns a list of all attached collisions meshes of each of the attached tools, if any.
get_base_frame	Get the frame of the robot's base link, which is the robot's origin frame.
get_base_link	Get the robot's base link.
get_base_link_name	Get the name of the robot's base link.
get_configurable_joint_names	Get the configurable joint names.
get_configurable_joint_types	Get the configurable joint types.
get_configurable_joints	Get the robot's configurable joints.
get_configuration_from_group_state	Get a compas_robots.Configuration from a group's group state.
get_end_effector_frame	Get the frame of the robot's end effector.
get_end_effector_link	Get the robot's end effector link.
get_end_effector_link_name	Get the name of the robot's end effector link.
get_group_configuration	Get the group's configuration.
get_group_names_from_link_name	Get the names of the groups link_name belongs to.
get_joint_by_name	RGet the joint in the robot model matching the given name.
get_joint_types_by_names	Get a list of joint types given a list of joint names.
get_link_names	Get the names of the links in the kinematic chain.
get_link_names_with_collision_geometry	Get the names of the links with collision geometry.
get_position_by_joint_name	Get the position of named joint in given configuration.
info	Print information about the robot.
inverse_kinematics	Calculate the robot's inverse kinematic for a given frame.
iter_inverse_kinematics	Iterate over the inverse kinematic solutions of a robot.
merge_group_with_full_configuration	Get the robot's full configuration by merging a group's configuration with a full configuration.
plan_cartesian_motion	Calculate a cartesian motion path (linear in tool space).
plan_motion	Calculate a motion path.
random_configuration	Get a random configuration.
scale	Scale the robot geometry by a factor (absolute).
set_RCF	Move the origin frame of the robot to the robot_coordinate_frame.
to_local_coordinates	Represent a frame from the world coordinate system (WCF) in the robot's coordinate system (RCF).
to_world_coordinates	Represent a frame from the robot's coordinate system (RCF) in the world coordinate system (WCF).
transformation_RCF_WCF	Get the transformation from the robot's coordinate system (RCF) to the world coordinate system (WCF).
transformation_WCF_RCF	Get the transformation from the world coordinate system (WCF) to the robot's coordinate system (RCF).
transformed_axes	Get the robot's transformed axes.
transformed_frames	Get the robot's transformed frames.
update	Update the robot's geometry.
zero_configuration	Get the zero joint configuration.

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.