This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v17.model.Model(static=False, self_collide=False, allow_auto_disable=True, include=<factory>, model=<factory>, enable_wind=False, frame=<factory>, pose=None, link=<factory>, joint=<factory>, plugin=<factory>, gripper=<factory>, name=None, canonical_link=None)

The model element defines a complete robot or any other physical object.

static: If set to true, the model is immovable. Otherwise the model

is simulated in the dynamics engine.

self_collide: If set to 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.

allow_auto_disable: 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.

include: Include resources from a URI. This can be used to nest


model: A nested model element
enable_wind: If set to true, all links in the model will be affected

by the wind. Can be overriden by the link wind property.

frame: A frame of reference in which poses may be expressed.
pose: A position(x,y,z) and orientation(roll, pitch yaw) with

respect to the frame named in the relative_to attribute.

link: A physical link with inertia, collision, and visual

properties. A link must be a child of a model, and any number of links may exist in a model.

joint: A joint connects two links with kinematic and dynamic

properties. By default, the pose of a joint is expressed in the child link frame.

plugin: A plugin is a dynamically loaded chunk of code. It can exist

as a child of world, model, and sensor.

name: The name of the model and its implicit frame. This name must

be unique among all elements defining frames within the same scope, i.e., it must not match another //model, //frame, //joint, or //link within the same scope.

canonical_link: 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.

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v17.model.Model.Frame([pose, name, attached_to])

A frame of reference in which poses may be expressed.

v17.model.Model.Gripper(grasp_check, ...)

v17.model.Model.Include([uri, name, static, ...])

Include resources from a URI.

v17.model.Model.Plugin([any_element, name, ...])

A plugin is a dynamically loaded chunk of code.

v17.model.Model.Pose([value, relative_to])