MeshDescriptor

class compas.robots.MeshDescriptor(filename, scale='1.0 1.0 1.0', **kwargs)[source]

Bases: Data

Description of a mesh.

Parameters

• filename (str) – The mesh’ filename.

• scale (str, optional) – The scale factors of the mesh in the x-, y-, and z-direction.

• **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

• filename (str) – The mesh’ filename.

• scale ([float, float, float]) – The scale factors of the mesh in the x-, y-, and z-direction.

• meshes (list[Mesh]) – List of COMPAS geometric meshes.

Examples

>>> m = MeshDescriptor('link.stl')

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.