Link

class compas_robots.model.Link[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

Inherited Methods

`ToString`	Converts the instance to a string.
`copy`	Make an independent copy of the data object.
`from_json`	Construct an object of this type from a JSON file.
`from_jsonstring`	Construct an object of this type from a JSON string.
`sha256`	Compute a hash of the data for comparison during version control using the sha256 algorithm.
`to_json`	Convert an object to its native data representation and save it to a JSON file.
`to_jsonstring`	Convert an object to its native data representation and save it to a JSON string.
`validate_data`	Validate the data against the object's data schema.