def test_from_t0cf_to_tcf(mesh, frame):
tool = ToolModel(mesh, frame)
frames_t0cf = [
Frame((-0.363, 0.003, -0.147), (0.388, -0.351, -0.852),
(0.276, 0.926, -0.256))
]
result = tool.from_t0cf_to_tcf(frames_t0cf)
expected = [
Frame(Point(-0.309, -0.046, -0.266), Vector(0.276, 0.926, -0.256),
Vector(0.879, -0.136, 0.456))
]
assert allclose(result[0], expected[0], tol=1e-03)
class Tool(object):
"""Represents a tool to be attached to the robot's flange.
Attributes
----------
visual : :class:`compas.datastructures.Mesh`
The visual mesh of the tool.
frame_in_tool0_frame : :class:`compas.geometry.Frame`
The frame of the tool in tool0 frame.
collision : :class:`compas.datastructures.Mesh`
The collision mesh representation of the tool.
name : :obj:`str`
The name of the `Tool`. Defaults to 'attached_tool'.
link_name : :obj:`str`
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)
"""
def __init__(self,
visual,
frame_in_tool0_frame,
collision=None,
name="attached_tool",
link_name=None):
self.tool_model = ToolModel(visual, frame_in_tool0_frame, collision,
name, link_name)
@classmethod
def from_tool_model(cls, tool_model):
tool = cls(None, None)
tool.tool_model = tool_model
return tool
@property
def attached_collision_meshes(self):
acms = []
for link in self.tool_model.iter_links():
for i, item in enumerate(link.collision):
meshes = Geometry._get_item_meshes(item)
for mesh in meshes:
collision_mesh_name = '{}_collision_{}'.format(
link.name, i)
collision_mesh = CollisionMesh(mesh, collision_mesh_name)
attached_collision_mesh = AttachedCollisionMesh(
collision_mesh, self.link_name, [self.link_name])
acms.append(attached_collision_mesh)
return acms
@property
def name(self):
return self.tool_model.name
@property
def link_name(self):
return self.tool_model.link_name
@link_name.setter
def link_name(self, link_name):
self.tool_model.link_name = link_name
@property
def frame(self):
return self.tool_model.frame
@frame.setter
def frame(self, frame):
self.tool_model.frame = frame
@property
def data(self):
"""Returns the data dictionary that represents the tool.
Returns
-------
:obj:`dict`
The frame data.
"""
data = self.tool_model.data
return data
@data.setter
def data(self, data):
self.tool_model.data = data
@classmethod
def from_data(cls, data):
"""Construct a `Tool` from its data representation.
Parameters
----------
data : :obj:`dict`
The data dictionary.
Returns
-------
:class:`Tool`
The constructed `Tool`.
Examples
--------
>>> mesh = Mesh.from_stl(compas_fab.get('planning_scene/cone.stl'))
>>> frame = Frame([0.14, 0, 0], [0, 1, 0], [0, 0, 1])
>>> data = {'visual': mesh.data, 'frame': frame.data}
>>> tool = Tool.from_data(data)
"""
tool = cls(None, None)
tool.data = data
return tool
@classmethod
def from_json(cls, filepath):
"""Construct a `Tool` from the data contained in a JSON file.
Parameters
----------
filepath : str
Path to the file containing the data.
Returns
-------
:class:`Tool`
The tool.
Examples
--------
>>> filepath = os.path.join(compas_fab.DATA, "planning_scene", "cone_tool.json")
>>> tool = Tool.from_json(filepath)
"""
with open(filepath, 'r') as f:
data = json.load(f)
return cls.from_data(data)
def to_json(self, filepath):
"""Serialise the data dictionary representing the tool to JSON and store in a file.
Parameters
----------
filepath : :obj:`str`
Path to the file.
Returns
-------
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)
>>> filepath = os.path.join(compas_fab.DATA, "planning_scene", "cone_tool.json")
>>> tool.to_json(filepath)
"""
with open(filepath, 'w') as f:
json.dump(self.data, f, indent=4, sort_keys=True)
def update_touch_links(self, touch_links=None):
if touch_links:
for acm in self.attached_collision_meshes:
acm.touch_links = touch_links
def from_tcf_to_t0cf(self, frames_tcf):
"""Converts a list of frames at the robot's tool tip (tcf frame) to frames at the robot's flange (tool0 frame).
Parameters
----------
frames_tcf : :obj:`list` of :class:`compas.geometry.Frame`
Frames (in WCF) at the robot's tool tip (tcf).
Returns
-------
:obj:`list` of :class:`compas.geometry.Frame`
Frames (in WCF) at the robot's flange (tool0).
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)
>>> frames_tcf = [Frame((-0.309, -0.046, -0.266), (0.276, 0.926, -0.256), (0.879, -0.136, 0.456))]
>>> tool.from_tcf_to_t0cf(frames_tcf)
[Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))]
"""
return self.tool_model.from_tcf_to_t0cf(frames_tcf)
def from_t0cf_to_tcf(self, frames_t0cf):
"""Converts frames at the robot's flange (tool0 frame) to frames at the robot's tool tip (tcf frame).
Parameters
----------
frames_t0cf : :obj:`list` of :class:`compas.geometry.Frame`
Frames (in WCF) at the robot's flange (tool0).
Returns
-------
:obj:`list` of :class:`compas.geometry.Frame`
Frames (in WCF) at the robot's tool tip (tcf).
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)
>>> frames_t0cf = [Frame((-0.363, 0.003, -0.147), (0.388, -0.351, -0.852), (0.276, 0.926, -0.256))]
>>> tool.from_t0cf_to_tcf(frames_t0cf)
[Frame(Point(-0.309, -0.046, -0.266), Vector(0.276, 0.926, -0.256), Vector(0.879, -0.136, 0.456))]
"""
return self.tool_model.from_t0cf_to_tcf(frames_t0cf)