Inertial

class compas.robots.Inertial(origin=None, mass=None, inertia=None)[source]

Bases: compas.base.Base

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

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).