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