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

class v17.state.Model.Frame(pose=None, name=None, attached_to=None)

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.

name: Name of the frame. It must be unique whithin its scope

(model/world), i.e., it must not match the name of another frame, link, joint, or model within the same scope.

attached_to: If specified, this frame is attached to the

specified frame. The specified frame must be within the same scope and may be defined implicitly, i.e., the name of any //frame, //model, //joint, or //link within the same scope may be used. If missing, this frame is attached to the containing scope’s frame. Within a //world scope this is the implicit world frame, and within a //model scope this is the implicit model frame. A frame moves jointly with the frame it is @attached_to. This is different from //pose/@relative_to. @attached_to defines how the frame is attached to a //link, //model, or //world frame, while //pose/@relative_to defines how the frame’s pose is represented numerically. As a result, following the chain of @attached_to attributes must always lead to a //link, //model, //world, or //joint (implicitly attached_to its child //link).

Nested Elements

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

v17.state.Model.Frame.Pose([value, relative_to])