Tool

class compas_fab.robots.Tool

Bases: Data

Represents a tool to be attached to the robot’s flange.

Parameters:

visualcompas.datastructures.Mesh

The visual mesh of the tool.

frame_in_tool0_framecompas.geometry.Frame

The tool coordinate frame (TCF) of the tool relative to the tool0 frame (T0CF).

collisioncompas.datastructures.Mesh

The collision mesh representation of the tool.

namestr

The name of the Tool. Defaults to ‘attached_tool’.

connected_tostr

The name of the Link to which the tool is attached. Defaults to None.

Examples

>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = Tool(mesh, frame)

Attributes:

tool_modelcompas_robots.ToolModel

The tool model.

attached_collision_mesheslist of compas_fab.robots.AttachedCollisionMesh, read-only

The collision meshes of the tool.

namestr, read-only

The name of the Tool.

connected_tostr

The name of the Link to which the tool is attached.

framecompas.geometry.Frame

The tool coordinate frame (TCF) of the tool relative to the tool0 frame (T0CF).

Methods

from_t0cf_to_tcf	Converts frames at the robot's flange (tool0 frame) to frames at the robot's tool tip (tcf frame).
from_tcf_to_t0cf	Converts a list of frames at the robot's tool tip (tcf frame) to frames at the robot's flange (tool0 frame).
from_tool_model
update_touch_links

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.