- class compas.robots.Geometry(box=None, cylinder=None, sphere=None, capsule=None, mesh=None, **kwargs)
Geometrical description of the shape of a link.
Box, optional) – A box shape primitive.
Cylinder, optional) – A cylinder shape primitive.
Sphere, optional) – A sphere shape primitive.
Capsule, optional) – A capsule shape primitive.
MeshDescriptor, optional) – A descriptor of a mesh.
**kwargs (dict[str, Any], optional) – The keyword arguments (kwargs) collected in a dict. These allow using non-standard attributes absent in the URDF specification.
shape (object) – The shape of the geometry
attr (keyword arguments) – Additional attributes
>>> box = compas.geometry.Box(Frame.worldXY(), 1, 1, 1) >>> geo = Geometry(box=box)
Construct an object of this type from the provided data.
Converts the instance to a string.
Make an independent copy of the data object.
Construct an object from serialized data contained in a JSON file.
Construct an object from serialized data contained in a JSON string.
Compute a hash of the data for comparison during version control using the sha256 algorithm.
Convert an object to its native data representation.
Serialize the data representation of an object to a JSON file.
Serialize the data representation of an object to a JSON string.
Validate the data contained in the JSON document against the object's JSON data schema.
Validate the JSON data against the objects's JSON data schema.
Validate the data contained in the JSON string against the objects's JSON data schema.