def data(self, data):
self.name = data['name']
self.joints = [Joint.from_data(d) for d in data['joints']]
self.links = [Link.from_data(d) for d in data['links']]
self.materials = [Material.from_data(d) for d in data['materials']]
self.attr = _attr_from_data(data['attr'])
self._scale_factor = data['_scale_factor']
self._rebuild_tree()
def _set_data(self, data):
self.name = data.get('name', '')
self.joints = [Joint.from_data(d) for d in data.get('joints', [])]
self.links = [Link.from_data(d) for d in data.get('links', [])]
self.materials = [Material.from_data(d) for d in data.get('materials', [])]
self.attr = _attr_from_data(data.get('attr', {}))
self._scale_factor = data.get('_scale_factor', 1.)
self._rebuild_tree()
def data(self, data):
from compas.robots.model.joint import Joint
self.name = data['name']
self.type = data['type']
self.visual = [Visual.from_data(d) for d in data['visual']]
self.collision = [Collision.from_data(d) for d in data['collision']]
self.inertial = Inertial.from_data(
data['inertial']) if data['inertial'] else None
self.attr = _attr_from_data(data['attr'])
self.joints = [Joint.from_data(d) for d in data['joints']]
def add_joint(self,
name,
type,
parent_link,
child_link,
origin=None,
axis=None,
limit=None,
**kwargs):
"""Adds a joint to the robot model.
Provides an easy way to programmatically add a joint to the robot model.
Parameters
----------
name : str
The name of the joint
type : int
The joint type, e.g. Joint.REVOLUTE
parent_link : :class:`Link`
The joint's parent link.
child_link : :class:`Link`
The joint's child link.
origin : :class:`compas.geometry.Frame`
The joint's origin frame.
axis : :class:`compas.geometry.Vector`
The joint's axis.
limit : list of 2 float
The lower and upper limits of the joint (used for joint types Joint.REVOLUTE or Joint.PRISMATIC)
Returns
-------
:class:`Joint`
The created `Joint`
Raises
------
ValueError
If the joint name is already used in the chain.
Examples
--------
>>> robot = RobotModel('robot')
>>> parent_link = robot.add_link('link0')
>>> child_link = robot.add_link('link1')
>>> origin = Frame.worldXY()
>>> axis = (1, 0, 0)
>>> j = robot.add_joint("joint1", Joint.CONTINUOUS, parent_link, child_link, origin, axis)
"""
all_joint_names = [j.name for j in self.joints]
if name in all_joint_names:
raise ValueError("Joint name '%s' already used in chain." % name)
if origin:
origin = Origin(origin.point, origin.xaxis, origin.yaxis)
if axis:
axis = Axis('{} {} {}'.format(*list(axis)))
if limit:
lower, upper = limit
limit = Limit(lower=lower, upper=upper)
type_str = Joint.SUPPORTED_TYPES[type]
joint = Joint(name,
type_str,
parent_link.name,
child_link.name,
origin=origin,
axis=axis,
limit=limit,
**kwargs)
self.joints.append(joint)
# Using only part of self._rebuild_tree()
parent_link.joints.append(joint)
child_link.parent_joint = joint
self._links[parent_link.name] = parent_link
self._adjacency[parent_link.name] = [
joint.name for joint in parent_link.joints
]
self._links[child_link.name] = child_link
if not parent_link.parent_joint:
self.root = parent_link
joint.child_link = child_link
self._joints[joint.name] = joint
self._adjacency[joint.name] = [child_link.name]
# Using only part of self._create(link, parent_transformation)
parent_transformation = Transformation()
for item in itertools.chain(parent_link.visual, parent_link.collision):
if not item.init_transformation:
item.init_transformation = parent_transformation
else:
parent_transformation = item.init_transformation
joint._create(parent_transformation)
for item in itertools.chain(child_link.visual, child_link.collision):
item.init_transformation = joint.current_transformation
return joint
def add_joint(self,
name,
type,
parent_link,
child_link,
origin=None,
axis=None,
limit=None,
**kwargs):
"""Adds a joint to the robot model.
Provides an easy way to programmatically add a joint to the robot model.
Parameters
----------
name : str
The name of the joint
type : int
The joint type, e.g. Joint.REVOLUTE
parent_link : :class:`Link`
The joint's parent link.
child_link : :class:`Link`
The joint's child link.
origin : :class:`compas.geometry.Frame`
The joint's origin frame.
axis : :class:`compas.geometry.Vector`
The joint's axis.
limit : list of 2 float
The lower and upper limits of the joint (used for joint types Joint.REVOLUTE or Joint.PRISMATIC)
**kwargs : dict[str, Any], optional
The keyword arguments (kwargs) collected in a dict.
These allow using non-standard attributes absent in the URDF specification.
Returns
-------
:class:`Joint`
The created `Joint`
Raises
------
ValueError
If the joint name is already used in the chain.
Examples
--------
>>> from compas.geometry import Frame
>>> robot = RobotModel('robot')
>>> parent_link = robot.add_link('link0')
>>> child_link = robot.add_link('link1')
>>> origin = Frame.worldXY()
>>> axis = (1, 0, 0)
>>> j = robot.add_joint("joint1", Joint.CONTINUOUS, parent_link, child_link, origin, axis)
"""
all_joint_names = [j.name for j in self.joints]
if name in all_joint_names:
raise ValueError("Joint name '%s' already used in chain." % name)
if origin:
origin = Frame(origin.point, origin.xaxis, origin.yaxis)
if axis:
axis = Axis('{} {} {}'.format(*list(axis)))
if limit:
lower, upper = limit
limit = Limit(lower=lower, upper=upper)
type_str = Joint.SUPPORTED_TYPES[type]
joint = Joint(name,
type_str,
parent_link.name,
child_link.name,
origin=origin,
axis=axis,
limit=limit,
**kwargs)
self.joints.append(joint)
# Using only part of self._rebuild_tree()
parent_link.joints.append(joint)
child_link.parent_joint = joint
self._links[parent_link.name] = parent_link
self._adjacency[parent_link.name] = [
joint.name for joint in parent_link.joints
]
self._links[child_link.name] = child_link
if not parent_link.parent_joint:
self.root = parent_link
joint.child_link = child_link
self._joints[joint.name] = joint
self._adjacency[joint.name] = [child_link.name]
self._create(self.root, Transformation())
return joint
