compas.robots.Link

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

Bases: compas.data.data.Data

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

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.