compas.robots.Geometry

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

Bases: compas.data.data.Data

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

copy([cls])	Make an independent copy of the data object.
from_data(data)	Construct an object of this type from the provided data.
from_json(filepath)	Construct an object from serialized data contained in a JSON file.
from_jsonstring(string)	Construct an object from serialized data contained in a JSON string.
get_urdf_element()
to_data()	Convert an object to its native data representation.
to_json(filepath[, pretty])	Serialize the data representation of an object to a JSON file.
to_jsonstring([pretty])	Serialize the data representation of an object to a JSON string.
validate_data()	Validate the object’s data against its data schema (self.DATASCHEMA).
validate_json()	Validate the object’s data against its json schema (self.JSONSCHEMA).

Attributes

DATASCHEMA	The schema of the data of this object.
JSONSCHEMA	The schema of the JSON representation of the data of this object.
data	The representation of the object as native Python data.
dtype	The type of the object in the form of a “2-level” import and a class name.
geo	Get geometry associated to this shape.
guid	The globally unique identifier of the object.
name	The name of the object.