Link

class compas.robots.Link(name, type=None, visual=[], collision=[], inertial=None, **kwargs)[source]

Link represented as a rigid body with an inertia, visual, and collision features.

Attributes

name – Name of the link itself.
type – Link type. Undocumented in URDF, but used by PR2.
visual – Visual properties of the link.
collision – Collision properties of the link. This can be different from the visual properties of a link.
inertial – Inertial properties of the link.
attr – Non-standard attributes.
joints – A list of joints that are the link’s children
parent_joint – The reference to a parent joint if it exists

Attributes

data

The representation of the object as native Python data.

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).