Geometry

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

Bases: compas.base.Base

Geometrical description of the shape of a link.

Parameters

• box (compas.robots.Box or None) – A box shape primitive.

• cylinder (compas.robots.Cylinder or None) – A cylinder shape primitive.

• sphere (compas.robots.Sphere or None) – A sphere shape primitive.

• capsule (compas.robots.Capsule or None) – A capsule shape primitive.

• mesh (compas.robots.MeshDescriptor or None) – A descriptor of a mesh.

• **kwargs (keyword arguments) – Additional attributes

Attributes

• shape (BaseShape) – The shape of the geometry

• attr (keyword arguments) – Additional attributes

• geo (compas.datastructures.Mesh or compas.geometry.Shape or None) – The native geometry object.

Examples

>>> box = Box('1 1 1')
>>> geo = Geometry(box=box)

Methods

from_data(data)	Construct an object of this type from the provided data.
from_json(filepath)	Construct an object from serialised data contained in a JSON file.
get_urdf_element()
to_data()	Convert an object to its native data representation.
to_json(filepath)	Serialize the data representation of an object to a JSON file.
validate_data()	Validate the data of this object against its data schema (self.DATASCHEMA).
validate_json()	Validate the data loaded from a JSON representation of the data of this object against its data schema (self.DATASCHEMA).