ToolModel

class compas_robots.ToolModel

Bases: RobotModel

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

Attributes:

frameFrame

The frame of the tool in reference to the tool0 frame.

connected_tostr

The name of the Link to which the tool is attached (ie. connected) to. Defaults to None.

Examples

>>> import compas
>>> from compas.datastructures import Mesh
>>> from compas.geometry import Frame
>>> mesh = Mesh.from_stl(compas.get("cone.stl"))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> tool = ToolModel(mesh, frame)

Methods

from_robot_model	Creates a ToolModel from a RobotModel instance.
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).

Inherited Methods

ToString	Converts the instance to a string.
add_joint	Adds a joint to the robot model.
add_link	Adds a link to the robot model.
compute_transformations	Recursive function to calculate the transformations of each joint.
copy	Make an independent copy of the data object.
ensure_geometry	Check if geometry has been loaded.
find_children_joints	Returns a list of all children joints of the link.
find_parent_joint	Returns the parent joint of the link or None if not found.
forward_kinematics	Calculate the robot's forward kinematic.
from_json	Construct an object of this type from a JSON file.
from_jsonstring	Construct an object of this type from a JSON string.
from_urdf_file	Construct a robot model from a URDF file model description.
from_urdf_string	Construct a robot model from a URDF description as string.
get_base_link_name	Returns the name of the base link.
get_configurable_joint_names	Returns the configurable joint names.
get_configurable_joints	Returns the configurable joints.
get_end_effector_link	Returns the end effector link.
get_end_effector_link_name	Returns the name of the end effector link.
get_joint_by_name	Get a joint in a robot model matching by its name.
get_joint_types	Returns the joint types of the configurable joints.
get_joint_types_by_names	Get a list of joint types given a list of joint names.
get_link_by_name	Get a link in a robot model matching by its name.
get_link_collision_meshes	Get the list of collision meshes of a link.
get_link_collision_meshes_joined	Get the collision meshes of a Link joined into a single mesh.
get_link_visual_meshes	Get a list of visual meshes from a Link.
get_link_visual_meshes_joined	Get the visual meshes of a Link joined into a single mesh.
get_urdf_element
iter_chain	Iterator over the chain of all elements between a pair of start and end elements.
iter_joint_chain	Iterator over the chain of joints between a pair of start and end links.
iter_joints	Iterator over the joints that starts with the root link's children joints.
iter_link_chain	Iterator over the chain of links between a pair of start and end links.
iter_links	Iterator over the links that starts with the root link.
load_geometry	Load external geometry resources, such as meshes.
random_configuration	Get a random configuration.
remove_joint	Removes a joint to the robot model.
remove_link	Removes a link to the robot model.
scale	Scales the robot by factor (absolute).
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.
to_urdf_file	Construct a URDF file model description from a robot model.
to_urdf_string	Construct a URDF string model description from a robot model.
transformed_axes	Returns the transformed axes based on the joint_state.
transformed_frames	Returns the transformed Joint frames (relative to the Robot Coordinate Frame) based on the joint_state (Configuration).
ur5	Construct a UR5 robot model.
validate_data	Validate the data against the object's data schema.
zero_configuration	Get the zero joint configuration.