Link

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

Bases: compas.base.Base

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(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).