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

ToString	Converts the instance to a string.
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.
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.