skbot.ignition.sdformat.generic_sdf.sdf.Sdf

class skbot.ignition.sdformat.generic_sdf.sdf.Sdf(*, payload=None, version='1.8', worlds=None, models=None, lights=None, actors=None)[source]

SDFormat Root Element

This element is a container for multiple simulation worlds (can be one) or for a single fragment of a world (Model, Actor, Light).

Parameters
payloadUnion[List[World], Model, Light, Actor]

The element contained in this SDF. This can be one Model, one Actor, one Light, or a list of Worlds.

versionstr

The SDFormat version.

worldsList[World]

The worlds contained in this SDF.

Deprecated since version SDFormat: v1.8 Worlds, models, lights, and/or actors can no longer be combined. Use payload instead.

modelsList[Model]

Deprecated since version SDFormat: v1.8 Starting with SDFormat v1.8 only a single model is supported. Use the model kwarg instead.

The models contained in this SDF.

lightsList[Light]

Deprecated since version SDFormat: v1.8 Starting with SDFormat v1.8 only a single light is supported. Use the light kwarg instead.

The lights contained in this SDF.

actorsList[Actor]

Deprecated since version SDFormat: v1.8 Starting with SDFormat v1.8 only a single actor is supported. Use the actor kwarg instead.

The actors contained in this SDF.

Attributes
worldsList[World]

The worlds contained in the SDF file.

model: Model

The model contained in the SDF file.

light: Light

The light contained in the SDF file.

actor: Actor

The actor contained in the SDF file.

versionstr

The SDFormat version.

modelsList[Model]

Deprecated since version SDFormat: v1.8 Use the Sdf.model instead.

lightsList[Light]

Deprecated since version SDFormat: v1.8 Use the Sdf.light instead.

actorsList[Actor]

Deprecated since version SDFormat: v1.8 Use the Sdf.actor instead.

__init__(*, payload=None, version='1.8', worlds=None, models=None, lights=None, actors=None)[source]

Methods

__init__(*[, payload, version, worlds, ...])

declared_frames()

Frames contained in this element.

from_specific(sdf, *, version)

Create a generic Sdf object from a specific one.

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

Convert to transform graph

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

Convert to transform graph

Attributes

actor

actors

light

lights

model

models