Link¶

class urdfpy.Link(name, inertial, visuals, collisions)[source]¶

A link of a rigid object.

Parameters:	name (str) – The name of the link. inertial (`Inertial`, optional) – The inertial properties of the link. visuals (list of `Visual`, optional) – The visual properties of the link. collsions (list of `Collision`, optional) – The collision properties of the link.

Attributes Summary

`collision_mesh`	A single collision mesh for the link, specified in the link frame, or None if there isn’t one.
`collisions`	The collision properties of this link.
`inertial`	Inertial properties of the link.
`name`	The name of this link.
`visuals`	The visual properties of this link.

Attributes Documentation

collision_mesh¶

A single collision mesh for the link, specified in the link frame, or None if there isn’t one.

Type:	`Trimesh`

collisions¶

The collision properties of this link.

Type:	list of `Collision`

inertial¶

Inertial properties of the link.

Type:	`Inertial`

name¶

The name of this link.

Type:	str

visuals¶

The visual properties of this link.

Type:	list of `Visual`