skbot.ignition.sdformat.generic_sdf.include.Include

class skbot.ignition.sdformat.generic_sdf.include.Include(*, uri, name=None, static=None, pose=None, plugins=None, placement_frame=None, sdf_version)[source]

Include a fragment (Model, World, or Light) from URI.

The version agnostic SDF bindings are oppinionated here. Whenever a Include element is encountered, it is immediately resolved and replaced by the corresponding model, actor, or light element. As such, you will not encounter it in a parsed tree.

Parameters
uristr

The location of the included fragment.

namestr

If not None, overwrite the fragment’s name with this name.

staticbool

If not None, overwrite the fragment’s static flag with this value. This only applies if the fragment is a Model.

posePose

If not None, overwrite the fragment’s pose with this pose.

pluginsList[Plugin]

A list of plugins to attach to the fragment.

placement_framestr

If not None, overwrite the fragment’s placement frame with this value. This only applies if the fragment is a Model.

sdf_versionstr

The SDFormat version to use when constructing this element.

__init__(*, uri, name=None, static=None, pose=None, plugins=None, placement_frame=None, sdf_version)[source]

Methods

__init__(*, uri[, name, static, pose, ...])

declared_frames()

Frames contained in this element.

from_specific(specific, *, version)

Create from version-specific object

resolve(*[, priority])

Resolve the include.

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

Convert to transform graph

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

Convert to transform graph