Inertial

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

Bases: 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

get_urdf_element

Inherited Methods

copy

Make an independent copy of the data object.

from_data

Construct an object of this type from the provided data.

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.

validate_json

Validate the object's data against its json schema.