compas.robots.Inertial

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

Bases: compas.data.data.Data

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

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.
guid	The globally unique identifier of the object.
name	The name of the object.