compas_robots.model

This package provides classes for describing robots, their components, and their kinematic behaviour.

Model

A robot model consists of a set of link elements, and a set of joint elements connecting the links together.

`Joint`	Representation of the kinematics and dynamics of a joint and its safety limits.
`Link`	Link represented as a rigid body with an inertia, visual, and collision features.

The robot itself as well as its links can be geometrically described using the following classes.

`LinkGeometry`	Geometrical description of the shape of a link.
`MeshDescriptor`	Description of a mesh.
`Material`	Material description.
`Texture`	Texture description.

The link is described as a rigid body with inertial, visual and collision values.

`Visual`	Visual description of a link.
`Collision`	Collidable description of a link.
`Inertial`	Inertial properties of a link.
`Mass`	Represents a value of mass usually related to a link.
`Inertia`	Rotational inertia matrix (3x3) represented in the inertia frame.

The joint describes the kinematics and dynamics of the robot’s joint.

`ParentLink`	Describes a parent relation between a joint its parent link.
`ChildLink`	Describes a child relation between a joint and its child link.
`Calibration`	Reference positions of the joint, used to calibrate the absolute position.
`Dynamics`	Physical properties of the joint used for simulation of dynamics.
`Limit`	Joint limit properties.
`Axis`	Representation of an axis or vector.
`Mimic`	Description of joint mimic.
`SafetyController`	Safety controller properties.