Geometry

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

Bases: Data

Geometrical description of the shape of a link.

Parameters

• box (Box, optional) – A box shape primitive.

• cylinder (Cylinder, optional) – A cylinder shape primitive.

• sphere (Sphere, optional) – A sphere shape primitive.

• capsule (Capsule, optional) – A capsule shape primitive.

• mesh (MeshDescriptor, optional) – A descriptor of a mesh.

• **kwargs (dict[str, Any], optional) – The keyword arguments (kwargs) collected in a dict. These allow using non-standard attributes absent in the URDF specification.

Attributes

• shape (object) – The shape of the geometry

• attr (keyword arguments) – Additional attributes

Examples

>>> box = compas.geometry.Box(Frame.worldXY(), 1, 1, 1)
>>> geo = Geometry(box=box)

Methods

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