Collision

class compas.robots.Collision(geometry, origin=None, name=None, **kwargs)[source]

Bases: compas.robots.model.link.LinkItem, compas.data.data.Data

Collidable description of a link.

Attributes

  • geometry – Shape of the collidable element.

  • origin – Reference frame of the collidable element with respect to the reference frame of the link.

  • name – Name of the collidable element.

  • attr – Non-standard attributes.

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.

from_primitive(primitive, **kwargs)

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).