Inertial

class compas.robots.Inertial(origin=None, mass=None, inertia=None)[source]

Bases: compas.data.data.Data

Inertial properties of a link.

Attributes

• origin – This is the pose of the inertial reference frame, relative to the link reference frame.

• mass – Mass of the link.

• inertia – 3x3 rotational inertia matrix, represented in the inertia frame.

Methods

copy([cls])	Make an independent copy of the data object.
from_data(data)	Construct an object of this type from the provided data.
from_json(filepath)	Construct an object from serialized data contained in a JSON file.
from_jsonstring(string)	Construct an object from serialized data contained in a JSON string.
get_urdf_element()
to_data()	Convert an object to its native data representation.
to_json(filepath[, pretty])	Serialize the data representation of an object to a JSON file.
to_jsonstring([pretty])	Serialize the data representation of an object to a JSON string.
validate_data()	Validate the object's data against its data schema (self.DATASCHEMA).
validate_json()	Validate the object's data against its json schema (self.JSONSCHEMA).