skbot.ignition.sdformat.generic_sdf.world.World

class skbot.ignition.sdformat.generic_sdf.world.World(*, name='', audio=None, wind=None, includes, gravity='0 0 -9.8', magnetic_field='5.5645e-6 22.8758e-6 -42.3884e-6', atmosphere=None, gui=None, physics_engine=None, physics_engines=None, scene, lights, frames, models, actors, plugins, joints=None, roads, spherical_coordinates=None, states, populations, sdf_version='1.8')[source]

A simulation world

The world element is a container for all information related to a single simulation.

Parameters
namestr

The name of the world. It must be unique among all worlds in the same Sdf container.

New in version SDFormat: v1.2

audio: World.Audio

The simulations global audio properties.

New in version SDFormat: v1.4

windWorld.Wind

The direction and strength of the wind. Currently only constant wind is supported.

New in version SDFormat: v1.6

includesList[Include]

References to other SDF files that contain fragments (Models, Lights, Actors) to include in the simulation.

New in version SDFormat: v1.4

gravitystr

The gravity in m/s^2, expressed in a coordinate frame defined by the spherical_coordinates attribute. The default is “0 0 -9.8”.

New in version SDFormat: v1.6

magnetic_fieldstr

The magnetic field vector in Tesla, expressed in a coordinate frame defined by the spherical_coordinates attribute. The default is “5.5645e-6 22.8758e-6 -42.3884e-6”.

New in version SDFormat: v1.6

atmosphereWorld.Atmosphere

The atmosphere model to use.

New in version SDFormat: v1.6

guiWorld.Gui

Layout of the Ignition Gazebo GUI. (Applications other than Gazebo will likely not need this.)

physics_enginePhysics

Configuration parameters of the dynamics engine.

Deprecated since version SDFormat: v1.6 Use physics_engines instead.

physics_enginesList[Physics]

Configuration parameters of the dynamics engine.

New in version SDFormat: v1.6

sceneScene

Ambience configuration of the world (skybox, ambient light, etc.)

lightsList[Light]

A list of light sources of the world.

framesList[Frame]

A list of reference frames used to ease the positioning of objects.

New in version SDFormat: v1.7

modelsList[Model]

A list of models used in this simulation.

actorsList[Actor]

A list of actors used in this simulation.

pluginsList[Plugin]

A list of plugins used to customize the runtime behavior of the simulation.

jointsList[Joint]

A list of connections between two Links that constrains their relative movement.

Deprecated since version SDFormat: v1.7 To attach models to the world, use the canonical_link kwarg instead. All other usage of joints has no replacement.

roadList[World.Road]

A list of roads used in this simulation.

spherical_coordinatesWorld.SphericalCoordinates

Simulator root frame location.

New in version SDFormat: v1.4

stateList[State]

The current state of this simulation.

populationList[“Population”]

A group of models that is procedually inserted into the simulation.

New in version SDFormat: v1.5

sdf_versionstr

The SDFormat version to use when constructing this element.

Notes

The includes kwarg is resolved upon construction and the included fragmens are appended to World.models, Worlds.actors, or Worlds.lights respectively.

The populations kwarg is resolved upon construction and generated models are appended to the list of Worlds.models.

Attributes
namestr

The name of the world.

audio: World.Audio

The simulations global audio properties.

windWorld.Wind

The direction and strength of the wind.

gravitynp.ndarray

The gravity in m/s^2, expressed in a coordinate frame defined by the spherical_coordinates attribute.

magnetic_fieldnp.ndarray

The magnetic field vector in Tesla, expressed in a coordinate frame defined by the spherical_coordinates attribute.

atmosphereWorld.Atmosphere

The atmosphere model to use.

guiWorld.Gui

Layout of the Ignition Gazebo GUI.

physics_enginesList[Physics]

Configuration parameters of the dynamics engine(s).

sceneScene

Ambience configuration of the world (skybox, ambient light, etc.)

lightsList[Light]

A list of light sources of the world.

framesList[Frame]

A list of reference frames used to ease the positioning of objects.

modelsList[Model]

A list of models used in this simulation.

actorsList[Actor]

A list of actors used in this simulation.

pluginsList[Plugin]

A list of plugins used to customize the runtime behavior of the simulation.

roadList[World.Road]

A list of roads used in this simulation.

spherical_coordinatesWorld.SphericalCoordinates

Simulator root frame location.

stateList[State]

The current state of this simulation.

physics_enginePhysics

Deprecated since version SDFormat: v1.6 Use physics_engines instead.

jointsList[Joint]

Deprecated since version SDFormat: v1.7 Use Model.joints instead and set Model.joints.parent to world.

__init__(*, name='', audio=None, wind=None, includes, gravity='0 0 -9.8', magnetic_field='5.5645e-6 22.8758e-6 -42.3884e-6', atmosphere=None, gui=None, physics_engine=None, physics_engines=None, scene, lights, frames, models, actors, plugins, joints=None, roads, spherical_coordinates=None, states, populations, sdf_version='1.8')[source]

Methods

__init__(*[, name, audio, wind, gravity, ...])

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, ...])

Convert to transform graph

Attributes

joints