Link

class compas.robots.Link(name, type=None, visual=(), collision=(), inertial=None, **kwargs)[source]

Bases: Data

Link represented as a rigid body with an inertia, visual, and collision features.

Attributes

• name – Name of the link itself.

• type – Link type. Undocumented in URDF, but used by PR2.

• visual – Visual properties of the link.

• collision – Collision properties of the link. This can be different from the visual properties of a link.

• inertial – Inertial properties of the link.

• attr – Non-standard attributes.

• joints – A list of joints that are the link’s children

• parent_joint – The reference to a parent joint if it exists

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.