pyrobopath.process.agent_model.AgentModel

class pyrobopath.process.agent_model.AgentModel(capabilities: List[Hashable], collision_model: FCLCollisionModel, base_frame_position: List[float] | Tuple[float, ...] | ndarray[Any, dtype[floating]], home_position: List[float] | Tuple[float, ...] | ndarray[Any, dtype[floating]], velocity: float, travel_velocity: float)

Bases: object

A data class for storing an agent’s configuration for toolpath scheduling

Parameters:

• capabilities (list of Hashable) – Capabilities the agent supports (e.g. tools indices)

• collision_model (FCLCollisionModel) – The agent’s spatial collision model. Currently, only FCL-based models are supported.

• base_frame_position (ArrayLike) – The origin of the agent’s frame.

• home_position (ArrayLike) – Resting or return-to (default) position of the agent.

• velocity (float) – Standard linear motion speed used to execute tasks.

• travel_velocity (float) – Rapid (non-operational) motion speed used to travel between tasks.

Methods

Attributes

capabilities
collision_model
base_frame_position
home_position
velocity
travel_velocity