Link
- class compas.robots.Link(name, type=None, visual=(), collision=(), inertial=None, **kwargs)[source]
Bases:
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
Construct an object of this type from the provided data.
Inherited Methods
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.