skbot.ignition.sdformat.generic_sdf.frame.Frame

class skbot.ignition.sdformat.generic_sdf.frame.Frame(*, name, pose=None, attached_to=None, sdf_version)[source]

A frame of reference.

Frames are coordinate frames that are rigidly attached to a rigid body (or inertial frame) and move together with it. Their primary purpose is to make it easier to specify the relative position of objects in the simulation.

New in version SDFormat: v1.5

Parameters
namestr

Name of the frame. It must be unique whithin its scope (model/world), i.e., it must not match the name of another frame, link, joint, or model within the same scope.

posePose

The initial position and orientation of this frame

attached_tostr

If specified, this frame is attached to the specified frame. The specified frame must be within the same scope and may be defined implicitly, i.e., the name of any //frame, //model, //joint, or //link within the same scope may be used.

If missing, this frame is attached to the containing scope’s frame. Within a //world scope this is the implicit world frame, and within a //model scope this is the implicit model frame.

A frame moves jointly with the frame it is @attached_to. This is different from //pose/@relative_to. @attached_to defines how the frame is attached to a //link, //model, or //world frame, while //pose/@relative_to defines how the frame’s pose is represented numerically. As a result, following the chain of @attached_to attributes must always lead to a //link, //model, //world, or //joint (implicitly attached_to its child //link).

New in version SDFormat: v1.7

sdf_versionstr

The SDFormat version to use when constructing this element.

Attributes
namestr

See Parameters section.

posePose

See Parameters section.

attached_tostr

See Parameters section.

__init__(*, name, pose=None, attached_to=None, sdf_version)[source]

Methods

__init__(*, name[, pose, attached_to])

declared_frames()

Frames contained in this element.

from_specific(specific, *, version)

Create from version-specific object

to_dynamic_graph(declared_frames, *[, seed, ...])

Convert to transform graph

to_static_graph(declared_frames, *[, seed, axis])

Convert to transform graph