Geometry

class compas.robots.Geometry(box=None, cylinder=None, sphere=None, capsule=None, mesh=None, **kwargs)[source]

Bases: compas.data.data.Data

Geometrical description of the shape of a link.

Parameters

• box (compas.robots.Box or None) – A box shape primitive.

• cylinder (compas.robots.Cylinder or None) – A cylinder shape primitive.

• sphere (compas.robots.Sphere or None) – A sphere shape primitive.

• capsule (compas.robots.Capsule or None) – A capsule shape primitive.

• mesh (compas.robots.MeshDescriptor or None) – A descriptor of a mesh.

• **kwargs (keyword arguments) – Additional attributes

Attributes

• shape (BaseShape) – The shape of the geometry

• attr (keyword arguments) – Additional attributes

• geo (compas.datastructures.Mesh or compas.geometry.Shape or None) – The native geometry object.

Examples

>>> box = Box('1 1 1')
>>> geo = Geometry(box=box)

Attributes

data	The representation of the object as native Python data.
geo	Get geometry associated to this shape.

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.
name	The name of the object.

Methods

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