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compas_robots.scene ¤

This package provides the base scene objects used to visualize robot models across the different CAD backends.

Classes¤

AbstractRobotModelObject ¤

Defines the interface for robot model scene objects.

Functions¤

create_geometry ¤
create_geometry(geometry: Mesh, name: str | None = None, color=None) -> object

Draw geometry in the respective CAD environment.

Parameters:

  • geometry (Mesh) –

    Instance of a mesh data structure

  • name (str | None, default: None ) –

    The name of the mesh to draw.

  • color –

    The color of the object.

Returns:

  • CAD-specific geometry –
Notes

This is an abstract method that needs to be implemented by derived classes.

transform ¤
transform(geometry: object, transformation: Transformation) -> None

Transforms a CAD-specific geometry using a Transformation.

Parameters:

  • geometry (object) –

    A CAD-specific (i.e. native) geometry object as returned by create_geometry.

  • transformation (Transformation) –

    Transformation to update the geometry object.

BaseRobotModelObject ¤

BaseRobotModelObject(**kwargs)

Provides common functionality to most robot model scene object implementations.

In COMPAS, SceneObjects are classes that assist with the visualization of datastructures and models, in a way that maintains the data separated from the specific CAD interfaces, while providing a way to leverage native performance of the CAD environment.

There are two methods that implementers of this base class should provide, one is concerned with the actual creation of geometry in the native format of the CAD environment (create_geometry) and the other is one to apply a transformation to geometry (transform).

Attributes:

  • model (RobotModel) –

    Instance of a robot model.

Attributes¤

attached_tool_model property ¤
attached_tool_model: ToolModel | None

For backwards compatibility. Returns the tool attached to the first end effector link or, if not available, the first tool from the dictionary. Returns None if no tool are attached.

Functions¤

attach_mesh ¤
attach_mesh(
    mesh: Mesh, name: str, link: Link | None = None, frame: Frame | None = None
) -> None

Rigidly attaches a compas mesh to a given link for visualization.

Parameters:

  • mesh (Mesh) –

    The mesh to attach to the robot model.

  • name (str) –

    The identifier of the mesh.

  • link (Link | None, default: None ) –

    The link within the robot model or tool model to attach the mesh to. Optional. Defaults to the model's end effector link.

  • frame (Frame | None, default: None ) –

    The frame of the mesh. Defaults to compas.geometry.Frame.worldXY.

attach_tool_model ¤
attach_tool_model(tool_model: ToolModel) -> None

Attach a tool to the robot scene object for visualization.

Parameters:

  • tool_model (ToolModel) –

    The tool that should be attached to the robot's flange.

create ¤
create(link: Link | None = None, context: str | None = None) -> None

Recursive function that triggers the drawing of the robot model's geometry.

This method delegates the geometry drawing to the create_geometry method. It transforms the geometry based on the saved initial transformation from the robot model.

Parameters:

  • link (Link | None, default: None ) –

    Link instance to create. Defaults to the robot model's root.

  • context (str | None, default: None ) –

    Subdomain identifier to insert in the mesh names.

detach_mesh ¤
detach_mesh(name: str) -> None

Removes attached collision meshes with a given name.

Parameters:

  • name (str) –

    The identifier of the mesh.

detach_tool_model ¤
detach_tool_model(tool_model: ToolModel | None = None) -> None

Detach tool_model from this robot model. If tool_model is None, all attached tools are detached.

Parameters:

  • tool_model (ToolModel | None, default: None ) –

    The tool that should be detached from the robot's flange. If None, all attached tools tools are removed.

draw_attached_meshes ¤
draw_attached_meshes() -> list[object]

Draws all meshes attached to the robot model.

Returns:

  • A list of context-specific mesh representations. –
draw_collision ¤
draw_collision() -> list[object]

Draws all collision geometry of the robot model.

Returns:

  • A list of context-specific mesh representations. –
draw_visual ¤
draw_visual() -> list[object]

Draws all visual geometry of the robot model.

Returns:

  • A list of context-specific mesh representations. –
meshes ¤
meshes(
    link: Link | None = None,
    visual: bool = True,
    collision: bool = False,
    attached_meshes: bool = True,
) -> list[Mesh]

Returns all compas meshes of the model.

Parameters:

  • link (Link | None, default: None ) –

    Base link instance. Defaults to the robot model's root.

  • visual (bool, default: True ) –

    Whether to include the robot's visual meshes.

  • collision (bool, default: False ) –

    Whether to include the robot's collision meshes.

  • attached_meshes (bool, default: True ) –

    Whether to include the robot's attached meshes.

scale ¤
scale(factor: float) -> None

Scales the robot model's geometry by factor (absolute).

Parameters:

  • factor (float) –

    The factor to scale the robot with.

scale_link(link: Link, transformation: Transformation) -> None

Recursive function to apply the scale transformation on each link.

Parameters:

  • link (Link) –

    A link.

  • transformation (Transformation) –

    A transformation to apply to th link's geometry.

update ¤
update(
    joint_state: Configuration | dict[str, float],
    visual: bool = True,
    collision: bool = True,
) -> None

Triggers the update of the robot geometry.

Parameters:

  • joint_state (Configuration | dict[str, float]) –

    A dictionary with joint names as keys and joint positions as values.

  • visual (bool, default: True ) –

    If True, the visual geometry will also be updated.

  • collision (bool, default: True ) –

    If True, the collision geometry will also be updated.

update_tool ¤
update_tool(
    tool: ToolModel,
    joint_state: Configuration | dict[str, float] | None = None,
    visual: bool = True,
    collision: bool = True,
    transformation: Transformation | None = None,
) -> None

Triggers the update of the robot geometry of the tool.

Parameters:

  • joint_state (Configuration | dict[str, float] | None, default: None ) –

    A dictionary with joint names as keys and joint positions as values. Defaults to an empty dictionary.

  • transformation (Transformation | None, default: None ) –

    The (absolute) transformation to apply to the entire tool's geometry. If None is given, no additional transformation will be applied. Defaults to None.

  • visual (bool, default: True ) –

    If True, the visual geometry will also be updated.

  • collision (bool, default: True ) –

    If True, the collision geometry will also be updated.