Collision

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

Bases: LinkItem, 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.

Methods

from_data	Construct an object of this type from the provided data.
from_primitive	Create collision link from a primitive shape.
get_urdf_element

Inherited Methods

ToString	Converts the instance to a string.
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.
sha256	Compute a hash of the data for comparison during version control using the sha256 algorithm.
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.