LinkGeometry

class compas_robots.model.LinkGeometry

Bases: Data

Geometrical description of the shape of a link.

Parameters:

boxBox, optional

A box shape primitive.

cylinderCylinder, optional

A cylinder shape primitive.

sphereSphere, optional

A sphere shape primitive.

capsuleCapsule, optional

A capsule shape primitive.

meshMeshDescriptor, optional

A descriptor of a mesh.

**kwargsdict[str, Any], optional

The keyword arguments (kwargs) collected in a dict. These allow using non-standard attributes absent in the URDF specification.

Attributes:

shapeobject

The shape of the geometry

attrkeyword arguments

Additional attributes

Examples

>>> box = compas.geometry.Box(1)
>>> geo = LinkGeometry(box=box)

Methods

get_urdf_element

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.