Collision

class compas.robots.Collision(geometry, origin=None, name=None, **kwargs)[source]

Bases: compas.robots.model.link.LinkItem, compas.data.data.Data

Collidable description of a link.

Attributes

• geometry – Shape of the collidable element.

• origin – Reference frame of the collidable element with respect to the reference frame of the link.

• name – Name of the collidable element.

• attr – Non-standard attributes.

Attributes

data	The representation of the object as native Python data.
name	The name of the object.

Inherited Attributes

DATASCHEMA	The schema of the data of this object.
JSONSCHEMA	The schema of the JSON representation of the data of this object.
JSONSCHEMANAME
dtype	The type of the object in the form of a '2-level' import and a class name.
guid	The globally unique identifier of the object.
jsondefinitions	Reusable schema definitions.
jsonstring	The representation of the object data in JSON format.
jsonvalidator	JSON schema validator for draft 7.

Methods

from_data	Construct an object of this type from the provided data.
from_primitive
get_urdf_element

Inherited Methods

copy	Make an independent copy of the data object.
from_json	Construct an object from serialized data contained in a JSON file.
from_jsonstring	Construct an object from serialized data contained in a JSON string.
to_data	Convert an object to its native data representation.
to_json	Serialize the data representation of an object to a JSON file.
to_jsonstring	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).