skbot.ignition.sdformat.generic_sdf.model.Model¶
- class skbot.ignition.sdformat.generic_sdf.model.Model(*, name, canonical_link=None, placement_frame='__model__', static=False, self_collide=False, allow_auto_disable=True, frames=None, pose=None, links, joints, plugins, grippers, includes=None, models=None, enable_wind=False, sdf_version, origin=None)[source]¶
A physical object in the simulation
The model element defines a complete robot or any other physical object. This includes (but is not limited to) its appearance, collision, skeleton/kinematic chain.
- Parameters
- namestr
A unique name for the model. This name must not match another model in the world.
- canonical_linkstr
The name of the model’s canonical link, to which the model’s implicit coordinate frame is attached. If unset or set to an empty string, the first link element listed as a child of this model is chosen as the canonical link.
New in version SDFormat: v1.7
- placement_framestr
The frame inside this model whose pose will be set by the pose element of the model. Defaults to
__model__
(the implicit model frame).New in version SDFormat: v1.8
- staticbool
If True (default), the model is immovable. Otherwise the model is simulated in the dynamics engine.
- self_collidebool
If True, all links in the model will collide with each other (except those connected by a joint). Can be overridden by the link or collision element self_collide property. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide. The default is
False
.New in version SDFormat: v1.5
- allow_auto_disablebool
Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints.
New in version SDFormat: v1.2
- framesList[Frame]
A list of frames of reference in which poses may be expressed.
New in version SDFormat: v1.5
- posePose
The model’s initial position (x,y,z) and orientation (roll, pitch, yaw).
New in version SDFormat: v1.2
- linksList[Link]
A list of links. Each link represents a rigid body with inertia, collision, and visual properties.
Changed in version SDFormat: v1.5 A model may now have 0 links.
- jointsList[Joint]
A list of joints. Each joint specifies a kinematic and/or dynamic constraints between two links.
- pluginsList[Plugin]
A list of plugins used to customize the runtime behavior of the simulation.
- grippers: List[Gripper],
A list of grippers.
- includesList[Include]
A list of references to other SDF files that contain
Models
to include as nested models.New in version SDFormat: v1.5
- modelsList[Model]
A list of models nested within this model.
New in version SDFormat: v1.5
- enable_windbool
If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.
New in version SDFormat: v1.6
- sdf_versionstr
The SDFormat version to use when constructing this element.
- originOrigin
The model’s origin.
Deprecated since version SDFormat: v1.2 Use
Model.pose
instead.
- Attributes
- namestr
See
Parameters
section.- canonical_linkstr
See
Parameters
section.- placement_framestr
See
Parameters
section.- staticbool
See
Parameters
section.- self_collidebool
See
Parameters
section.- allow_auto_disablebool
See
Parameters
section.- framesList[Frame]
See
Parameters
section.- posePose
See
Parameters
section.- linksList[Link]
See
Parameters
section.- jointsList[Joint]
See
Parameters
section.- pluginsList[Plugin]
See
Parameters
section.- grippers: List[Gripper],
See
Parameters
section.- includesList[Include]
See
Parameters
section.- modelsList[Model]
See
Parameters
section.- enable_windbool
See
Parameters
section.
- __init__(*, name, canonical_link=None, placement_frame='__model__', static=False, self_collide=False, allow_auto_disable=True, frames=None, pose=None, links, joints, plugins, grippers, includes=None, models=None, enable_wind=False, sdf_version, origin=None)[source]¶
Methods
__init__
(*, name[, canonical_link, ...])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
Attributes
origin