BaseRobotModelObject

class compas_robots.scene.BaseRobotModelObject

Bases: AbstractRobotModelObject, SceneObject

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:

modelRobotModel

Instance of a robot model.

Methods

attach_mesh	Rigidly attaches a compas mesh to a given link for visualization.
attach_tool_model	Attach a tool to the robot scene object for visualization.
create	Recursive function that triggers the drawing of the robot model's geometry.
detach_mesh	Removes attached collision meshes with a given name.
detach_tool_model	Detach tool_model from this robot model.
draw_attached_meshes	Draws all meshes attached to the robot model.
draw_collision	Draws all collision geometry of the robot model.
draw_visual	Draws all visual geometry of the robot model.
meshes	Returns all compas meshes of the model.
scale	Scales the robot model's geometry by factor (absolute).
scale_link	Recursive function to apply the scale transformation on each link.
update	Triggers the update of the robot geometry.
update_tool	Triggers the update of the robot geometry of the tool.

Inherited Methods

ToString	Converts the instance to a string.
add	Add a child item to the scene object.
clear	The main clearing method.
copy	Make an independent copy of the data object.
create_geometry	Draw geometry in the respective CAD environment.
draw	The main drawing method.
from_json	Construct an object of this type from a JSON file.
from_jsonstring	Construct an object of this type from a JSON string.
remove	Remove a child node from this node.
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.
transform	Transforms a CAD-specific geometry using a Transformation.
traverse	Traverse the tree from this node.
validate_data	Validate the data against the object's data schema.